A method, system and device for generating a water-cooled wall map

Abstract

The present application provides a method, system and device for generating a water-cooled wall map. The method comprises obtaining structural parameters of the area to be detected, the number of areas to be detected and the correlation between the areas to be detected; generating a water-cooled wall digital model based on the structural parameters of the area to be detected; obtaining a slam grid map model of the area to be detected by a wall-climbing robot crawling the area to be detected in real time; matching the slam grid map model with the water-cooled wall digital model according to the number of areas to be detected and the correlation between the areas to be detected, and generating a water-cooled wall model. In this way, the mapping time of the wall-climbing robot can be effectively reduced to a certain extent.

Description

Technical Field

[0001] The present application relates to the field of map generation, and more specifically, to a method, system and device for generating a water-cooled wall map. Background Art

[0002] The water-cooled wall crawling robot can replace manual inspection of the water-cooled wall. The robot uses permanent magnet technology to adsorb on the water-cooled wall, can move on the water-cooled wall, wash the floating dust on the water-cooled wall pipe, inspect the appearance of the pipe, automatically inspect the thickness of the pipe wall, locate defects, etc. It realizes the robotized inspection of the wear and explosion prevention of the water-cooled wall of the power plant, which is of great significance to promote the intelligent inspection of the water-cooled wall of the power plant.

[0003] Before the wall-climbing robot works on the water-cooled wall, it needs to obtain a map of the water-cooled wall. First, the concave areas of the water-cooled wall cannot be clearly marked simply through the slam modeling of the climbing robot. Most of these concave areas are burner areas or soot blowing holes on the water-cooled wall surface, which are inaccessible to the robot. Second, the power plant includes multiple water-cooled walls, and it will take a lot of time to map and confirm the water-cooled walls one by one. Summary of the invention

[0004] According to an embodiment of the present application, a water-cooled wall map generation solution is provided.

[0005] In a first aspect of the present application, a method for generating a water-cooled wall map is provided. The method comprises:

[0006] Acquire structural parameters of at least one area to be detected, the number of at least one area to be detected, and an association relationship between at least one area to be detected;

[0007] Generate a digital model of the water-cooled wall based on the structural parameters of the area to be inspected;

[0008] The wall-climbing robot crawls through the area to be inspected in real time to obtain the slam grid map model of the area to be inspected;

[0009] The SLAM grid map model and the water-cooled wall digital model are matched according to the number of the at least one area to be detected and the association relationship between the at least one area to be detected to generate a water-cooled wall model.

[0010] In a possible implementation rule, the water-cooled wall digital model is generated based on the structural parameters of the area to be inspected:

[0011] Generate digital model floor, pipe row information and no-climbing zone information based on the structural parameters of the area to be inspected;

[0012] The pipe row information and the no-climbing zone information are marked on the digital model base plate based on preset data marking rules.

[0013] In a possible implementation rule, the step of crawling the area to be detected by a wall-climbing robot in real time to obtain a slam grid map model of the area to be detected includes:

[0014] The slam dot map of the area to be detected is obtained based on the radar carried by the wall-climbing robot;

[0015] Get the SLAM grid map model based on the preset editing rules and SLAM dot map.

[0016] In a possible implementation rule, matching the SLAM grid map model with the water wall digital model according to the number of the at least one area to be detected and the association relationship between the at least one area to be detected to generate the water wall model includes:

[0017] Determine a scan matching rule according to the number of the at least one area to be detected and the association relationship between the at least one area to be detected, wherein the scan matching rule includes an association scan rule and a single scan rule;

[0018] When the area to be inspected satisfies a single scanning rule, matching the slam grid map model with the water-cooled wall digital model based on the single scanning rule to generate a water-cooled wall model;

[0019] When there are multiple areas to be detected that are associated with each other, the slam grid map model and the water-cooled wall digital model are matched based on the associated scanning rule to generate a water-cooled wall model.

[0020] In a possible implementation rule, the scanning matching rule is determined according to the number of the at least one area to be detected and the association relationship between the at least one area to be detected, and the scanning matching rule includes an association scanning rule and a single scanning rule, including:

[0021] When the area to be detected is not associated with any other area to be detected, a single scanning rule is adopted;

[0022] When the area to be detected has an association relationship with other areas to be detected, an association scanning rule is adopted for the multiple areas to be detected that have an association relationship.

[0023] In a possible implementation rule, when the area to be detected satisfies a single scanning rule, matching the slam grid map model with the water-cooled wall digital model based on the single scanning rule to generate the water-cooled wall model includes:

[0024] According to a preset screening rule, the number of the sunken areas in the area to be detected and the positional relationship of the sunken areas are obtained;

[0025] According to the number of the sunken areas in the area to be detected, the positional relationship of the sunken areas, the slam grid map model and the water-cooled wall digital model, the water-cooled wall digital model of the area to be detected associated with the area to be detected is determined, and the water-cooled wall model of the area to be detected is generated.

[0026] In a possible implementation rule, when there are multiple areas to be detected that are associated with each other, matching the SLAM grid map model with the water wall digital model based on the associated scanning rule to generate the water wall model includes:

[0027] Select one of the multiple associated areas to be detected;

[0028] According to a preset screening rule, the number of the sunken areas in the area to be detected and the positional relationship of the sunken areas are obtained;

[0029] According to the number of the sunken areas in the area to be detected, the positional relationship of the sunken areas, the slam grid map model and the water-cooled wall digital model, the water-cooled wall digital model of the area to be detected associated with the area to be detected is determined, and the water-cooled wall model of the area to be detected is generated.

[0030] Based on the association relationship of the multiple areas to be inspected, the water-cooled wall digital model and the area to be inspected, a water-cooled wall model of the area to be inspected associated with the area to be inspected is determined.

[0031] It can be seen from the above technical solutions that a power plant usually includes multiple water-cooled walls. In order to monitor the water-cooled walls, a wall-climbing robot will be placed on the water-cooled walls. In order to facilitate the wall-climbing robot to crawl on the water-cooled walls, a water-cooled wall model needs to be determined. By obtaining the structural parameters of at least one area to be detected, a water-cooled wall digital model of at least one area to be detected is obtained, and the slam grid map model of the area to be detected is obtained by the wall-climbing robot. According to the slam grid map model of the area to be detected, the water-cooled wall digital model of the area to be detected, the number of recessed areas in the area to be detected, and the positional relationship of the recessed areas, the water-cooled wall model of the area to be detected is obtained, so as to facilitate the wall-climbing robot to generate a map of the area to be detected.

[0032] In a possible implementation rule, a monitoring method is also included:

[0033] The wall-climbing robot obtains a slam grid map model of the area to be detected every preset first time period;

[0034] By comparing the SLAM grid map model with the water-cooled wall model, different areas are screened out and marked as dangerous areas.

[0035] From the above technical solution, it can be seen that by regularly monitoring the area to be monitored, when the slam grid map model and the water-cooled wall model have different areas, it means that there are protruding obstacles on the water-cooled wall surface, that is, bulges appear on the water-cooled wall surface, and the different areas need to be processed.

[0036] In a second aspect of the present application, a water-cooled wall map generation system is provided. The system comprises:

[0037] An acquisition module, used to acquire structural parameters of at least one area to be detected, the number of at least one area to be detected, and an association relationship between at least one area to be detected;

[0038] A first model generation module is used to generate a water-cooled wall digital model based on the structural parameters of the area to be detected;

[0039] The second model generation module is used to obtain a slam grid map model of the area to be detected by crawling the area to be detected by the wall-climbing robot in real time;

[0040] The model matching module is used to match the slam grid map model with the water-cooled wall digital model according to the number of the at least one area to be detected and the association relationship between the at least one area to be detected, so as to generate a water-cooled wall model.

[0041] In a third aspect of the present application, an electronic device is provided, which includes a memory and a processor, wherein a computer program is stored in the memory, and when the processor executes the program, the method described above is implemented.

[0042] It should be understood that the contents described in the Summary of the Invention are not intended to limit the key or important features of the embodiments of the present application, nor are they intended to limit the scope of the present application. Other features of the present application will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] The above and other features, advantages and aspects of the embodiments of the present application will become more apparent with reference to the following detailed description in conjunction with the accompanying drawings. In the accompanying drawings, the same or similar reference numerals represent the same or similar elements, wherein:

[0044] Figure 1 A flow chart of a water wall map generation method according to an embodiment of the present application is shown;

[0045] Figure 2 A block diagram of a water wall map generation system according to an embodiment of the present application is shown;

[0046] Figure 3 A schematic diagram of the structure of a terminal device or server suitable for implementing an embodiment of the present application is shown.

[0047] Explanation of the accompanying drawings: 11. acquisition module; 12. first model generation module; 13. second model generation module; 14. model matching module; 301. CPU; 302. ROM; 303. RAM; 304. bus; 305. I / O interface; 306. input part; 307. output part; 308. storage part; 309. communication part; 310. drive; 311. removable medium. DETAILED DESCRIPTION

[0048] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0049] Technologies, methods, and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods, and equipment should be considered as part of the specification.

[0050] Figure 1 A flow chart of a water wall map generation method according to an embodiment of the present application is shown;

[0051] Step S1, obtaining structural parameters of at least one area to be detected, the number of at least one area to be detected, and an association relationship between at least one area to be detected;

[0052] The area to be inspected is the water-cooled wall surface. In a power plant, one boiler corresponds to at least one water-cooled wall, and there is at least one boiler in the power plant. The number of areas to be inspected is manually set, that is, the number of areas to be inspected is manually determined.

[0053] At the beginning of the construction of the power plant or the boiler, relevant drawings and other data will be retained. The structural parameters of the area to be tested will be marked in the drawings. The correlation between the areas to be tested is objective and exists.

[0054] In a specific example, one boiler corresponds to four water-cooled walls, and the four water-cooled walls are combined into a rectangular parallelepiped, so the four water-cooled walls have an associated relationship.

[0055] In another specific example, one of the water-cooled walls of boiler A is parallel to one of the water-cooled walls of boiler B, and the two water-cooled walls are associated with each other.

[0056] It is understandable that if there is only one area to be detected (ie, at least one area to be detected), the association relationship of the area to be detected is none.

[0057] Step S2, generating a water-cooled wall digital model based on the structural parameters of the area to be inspected;

[0058] After knowing the structural parameters of the area to be inspected, a digital model of the water-cooled wall can be generated according to the parameters of the area to be inspected. The structural parameters of the area to be inspected include the tube wall diameter, fin width, tube wall thickness, defect point location marking, thickness measurement data, thickness value point cloud data rendering, etc.

[0059] Step S21, generating digital model base plate, pipe row information and no-climbing zone information based on the structural parameters of the area to be inspected;

[0060] According to the structural parameters of the area to be detected, the length and width data of the water-cooled wall surface can be known, and the digital model base plate can be obtained according to the length and width data of the water-cooled wall surface; according to the structural parameters of the area to be detected, the pipe row information of the area to be detected can be known, and according to the structural parameters of the area to be detected, the recessed area can be known, and the recessed area includes but is not limited to the burner and the manhole door, and these areas cannot be reached by the wall-climbing robot.

[0061] It is understandable that the bottom plate of the digital model will be marked with numbers to distinguish different areas to be inspected, and the pipe rows will also be numbered.

[0062] The digital model base plate, pipe arrangement information and no-climbing zone information can be generated manually according to drawings, or directly obtained from drawings, and there is no restriction here.

[0063] Step S22, marking the pipe row information and the no-climbing zone information on the digital model bottom plate based on a preset data marking rule;

[0064] The digital model base plate only includes the length and width data of the area to be inspected. The pipe arrangement information and the no-climbing zone information are not marked above, so the pipe arrangement information and the no-climbing zone information need to be marked on the digital model base plate.

[0065] Digital model base plate and tube row information: [model ID, region, length, width, {tube row specifications: tube pitch, diameter, fin width, tube thickness}];

[0066] No-climbing zone information: [id, type, center point horizontal coordinate, center point vertical coordinate, radius, width, height].

[0067] The coordinate information in the above data is a manually set coordinate origin, and the coordinate information of the no-climbing zone is obtained based on the coordinate origin.

[0068] It is understandable that in actual operation, the water-cooled wall is usually a standard rectangle, triangle or trapezoid; there will be regularly shaped circular or rectangular burners, manhole doors and other no-climbing areas at fixed positions within the area; so there will be information such as radius and width.

[0069] Step S3, crawling the area to be detected by the wall-climbing robot in real time to obtain a slam grid map model of the area to be detected;

[0070] The wall-climbing robot is connected to the water-cooled wall through permanent magnets. A radar detection device is provided on the wall-climbing robot. In the present application, the radar detection device is a laser radar detection device. The laser radar detection device has high accuracy and can detect protruding objects on a plane but cannot detect recessed areas on the plane.

[0071] Step S31, obtaining a slam dot map of the area to be detected based on the radar carried by the wall-climbing robot;

[0072] The wall-climbing robot uses the original cloud point data of the area to be detected by the laser radar detection device to generate a slam dot matrix map based on the original cloud point data. However, there are problematic data in the original cloud point data, so the slam dot matrix map cannot be used directly and needs to be modified.

[0073] Step S32, obtaining a SLAM grid map model based on a preset map modification rule and a SLAM dot map;

[0074] The obtained SLAM dot map is retouched to obtain a SLAM grid map. The retouching method is a prior art and will not be described in detail here.

[0075] Step S4, matching the SLAM grid map model with the water wall digital model according to the number of the at least one area to be detected and the association relationship between the at least one area to be detected, to generate a water wall model;

[0076] It can be seen from step S1 that there may or may not be an association relationship between the areas to be detected. After the water wall model of one of the areas to be detected is determined, the water wall models of the multiple areas to be detected can be known.

[0077] Step S41, determining a scan matching rule according to the number of the at least one area to be detected and the association relationship between the at least one area to be detected, wherein the scan matching rule includes an association scan rule and a single scan rule;

[0078] The scan matching rules are the rules described in step S411 to step S412.

[0079] Step S411, when the area to be detected is not associated with any other area to be detected, a single scanning rule is adopted;

[0080] This step is to judge a single area to be detected. In step 1, the association relationship of the area to be detected is obtained. Here, comparison can be made based on the association relationship, which will not be elaborated here.

[0081] Step S412, when the to-be-detected area has an association relationship with other to-be-detected areas, an association scanning rule is applied to the multiple to-be-detected areas having the association relationship;

[0082] This step is to judge a single area to be detected. In step 1, the association relationship of the areas to be detected is obtained. When the area to be detected has areas to be detected associated with it, an association scanning rule is used for these multiple areas to be detected with an associated relationship.

[0083] In a specific example, the detection area A is associated with the detection area B and the detection area C, the detection area A is not associated with the detection area D, and the detection area B is associated with the detection area D.

[0084] By determining the association relationship for the area A to be detected, it can be known that there is an association relationship with the area B to be detected and the area C to be detected. By searching for the association relationship for the area B to be detected and the area C to be detected, it can be known that there is an association relationship between the area B to be detected and the area D to be detected. Therefore, there is an association relationship between the area A to be detected, the area B to be detected, the area C to be detected and the area D to be detected.

[0085] Step S42, when the area to be detected satisfies a single scanning rule, matching the slam grid map model with the water-cooled wall digital model based on the single scanning rule to generate a water-cooled wall model;

[0086] A single scanning rule is from step S421 to step S422.

[0087] Step S421, obtaining the number of sunken areas in the area to be detected and the positional relationship of the sunken areas according to a preset screening rule;

[0088] The screening rule is a method for obtaining the number of recessed areas in the area to be detected and the positional relationship of the recessed areas.

[0089] In a specific example, a drone can be used to take a picture of the area to be inspected, and the number of recessed areas and the approximate positional relationship of the recessed areas in the area to be inspected can be obtained based on the picture of the area to be inspected. Alternatively, the number of recessed areas and the positional relationship of the recessed areas in the area to be inspected can be obtained by using an acoustic radar. The above methods are all fuzzy acquisition methods and cannot accurately determine the water-cooled wall model of the area to be inspected.

[0090] Step S422, determining the water-cooled wall digital model of the area to be detected associated with the area to be detected according to the number of the sunken areas in the area to be detected, the positional relationship of the sunken areas, the slam grid map model and the water-cooled wall digital model, and generating a water-cooled wall model of the area to be detected;

[0091] By comparing the size of the digital model bottom plate of the water-cooled wall digital model with the size of the slam grid map, at least one water-cooled wall digital model matching the area to be inspected is found. The multiple water-cooled wall digital models constitute a first model set. Then, according to the number of recessed areas in the area to be inspected, the positional relationship of the recessed areas, the pipe row information in the water-cooled wall digital model, and the no-climbing zone information, the water-cooled wall digital model of the area to be inspected associated with the area to be inspected is determined. The water-cooled wall digital model is the water-cooled wall model of the area to be inspected.

[0092] Step S43, when there are multiple areas to be detected that are associated with each other, matching the SLAM grid map model with the water wall digital model based on the associated scanning rule to generate a water wall model;

[0093] The associated scanning rules are steps S431 to S434.

[0094] Step S431, selecting one of the multiple associated areas to be detected;

[0095] When multiple areas to be inspected have an associated relationship, as long as the water-cooled wall model of one of the areas to be inspected is known, the water-cooled wall models of all the areas to be inspected that have an associated relationship can be obtained according to the associated relationship.

[0096] Step S432, obtaining the number of sunken areas in the area to be detected and the positional relationship of the sunken areas according to a preset screening rule;

[0097] Refer to step S421, which will not be elaborated here.

[0098] Step S433, determining the water-cooled wall digital model of the area to be detected associated with the area to be detected according to the number of the sunken areas in the area to be detected, the positional relationship of the sunken areas, the slam grid map model and the water-cooled wall digital model, and generating a water-cooled wall model of the area to be detected;

[0099] Refer to step S422, which will not be described in detail here.

[0100] Step S434, determining a water-cooled wall model of the area to be inspected associated with the area to be inspected based on the association relationship of the multiple areas to be inspected, the water-cooled wall digital model and the area to be inspected;

[0101] After the association relationship between the multiple areas to be detected is known, the water-cooled wall models of the multiple areas to be detected can be known according to the position of one of the areas to be detected in the water-cooled wall model.

[0102] For example, if the water-cooled wall model of the area A to be detected is known, and there is an association relationship between the area A to be detected, the area B to be detected, the area C to be detected and the area D to be detected, then the corresponding association relationship is found according to the water-cooled wall digital model, and the water-cooled wall models of the area B to be detected, the area C to be detected and the area D to be detected are generated according to the association relationship.

[0103] In a specific example, the angle between the area A to be detected and the area B to be detected is 60 degrees, and the area A to be detected and the area B to be detected are connected to each other. Then, a water-cooled wall model connected to the water-cooled wall model corresponding to the area A to be detected and with an angle of 60 degrees is found in the water-cooled wall digital model. This water-cooled wall model is the water-cooled wall model of the area B to be detected.

[0104] After the map of the area to be detected is generated, a method for daily monitoring of the map of the area to be detected is also included.

[0105] Step S51, the wall-climbing robot obtains a slam grid map model of the area to be detected every preset first time period;

[0106] The wall-climbing robot of the present application uses a laser radar to scan the area to be detected to generate a slam grid map model of the area to be detected. When the water-cooled wall is operating normally, there are no protruding obstacles on the water-cooled wall surface, so the slam grid map model generated by the laser radar scanning is a whole rectangular wall, that is, the laser radar can only generate a whole water-cooled wall graphic.

[0107] After obtaining the water-cooled wall model, the slam grid map model of the area to be detected is obtained at regular intervals. If the obtained slam grid map model is different from the water-cooled wall model, it means that an obstacle appears on the water-cooled wall surface (i.e., black spots appear on the slam grid map model).

[0108] Step S52, comparing the SLAM grid map model with the water-cooled wall model, screening out different areas, and marking the different areas as dangerous areas;

[0109] In step S4, the generated water-cooled wall model is the map model of the area to be detected, and the water-cooled wall model facilitates the movement of the wall-climbing robot in the area to be detected; by comparing the slam grid map model obtained at regular intervals with the corresponding water-cooled wall model, the different areas in the slam grid map model and the water-cooled wall model are marked, and the different areas are the dangerous areas, which are mostly bulges of water-cooled wall pipes.

[0110] It is understandable that the water wall model is marked with pipeline information, and the pipeline information corresponding to the dangerous area is sent to the maintenance center to facilitate maintenance personnel to come for maintenance. The pipeline information includes the pipeline number, and the dangerous area includes the area size, shape and coordinates.

[0111] It should be noted that, for the aforementioned method embodiments, for the sake of simplicity, they are all expressed as a series of action combinations, but those skilled in the art should be aware that the present application is not limited by the described order of actions, because according to the present application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all optional embodiments, and the actions and modules involved are not necessarily required for the present application.

[0112] The above is an introduction to the method embodiment. The following is a further explanation of the solution described in this application through a system embodiment.

[0113] Figure 2 A block diagram of a water wall map generation system according to an embodiment of the present application is shown;

[0114] An acquisition module 11 is used to acquire a structural parameter of at least one area to be detected, a number of at least one area to be detected, and an association relationship between at least one area to be detected;

[0115] A first model generating module 12, used to generate a water-cooled wall digital model based on the structural parameters of the area to be detected;

[0116] The second model generation module 13 is used to obtain a slam grid map model of the area to be detected by crawling the area to be detected by the wall-climbing robot in real time;

[0117] The model matching module 14 is used to match the slam grid map model with the water-cooled wall digital model according to the number of the at least one area to be detected and the association relationship between the at least one area to be detected, so as to generate a water-cooled wall model.

[0118] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the described module can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0119] Figure 3 A schematic diagram of the structure of an electronic device suitable for implementing the embodiments of the present application is shown.

[0120] like Figure 3As shown, the electronic device includes a central processing unit (CPU) 301, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 302 or a program loaded from a storage part 308 into a random access memory (RAM) 303. In the RAM 303, various programs and data required for the operation of the system 300 are also stored. The CPU 301, the ROM 302, and the RAM 303 are connected to each other via a bus 304. An input / output (I / O) interface 305 is also connected to the bus 304.

[0121] The following components are connected to the I / O interface 305: an input section 306 including a keyboard, a mouse, etc.; an output section 307 including a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker, etc.; a storage section 308 including a hard disk, etc.; and a communication section 309 including a network interface card such as a LAN card, a modem, etc. The communication section 309 performs communication processing via a network such as the Internet. A drive 310 is also connected to the I / O interface 305 as needed. A removable medium 311, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 310 as needed, so that a computer program read therefrom is installed into the storage section 308 as needed.

[0122] In particular, according to an embodiment of the present application, the above reference flow chart Figure 1 The described process can be implemented as a computer software program. For example, an embodiment of the present application includes a computer program product, which includes a computer program carried on a machine-readable medium, and the computer program contains program code for executing the method shown in the flow chart. In such an embodiment, the computer program can be downloaded and installed from the network through the communication part 309, and / or installed from the removable medium 311. When the computer program is executed by the central processing unit (CPU) 301, the above-mentioned functions defined in the system of the present application are executed.

[0123] It should be noted that the computer-readable medium shown in the present application may be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, system or device, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present application, a computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, system or device. In the present application, a computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, in which a computer-readable program code is carried. This propagated data signal may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. Computer-readable signal media may also be any computer-readable medium other than computer-readable storage media that can send, propagate or transmit a program for use by or in conjunction with an instruction execution system, system or device. The program code contained on the computer-readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, optical cable, RF, etc., or any suitable combination of the above.

[0124] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present application. In this regard, each box in the flow chart or block diagram can represent a module, a program segment or a part of the code, and the aforementioned module, program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flow chart, and the combination of the boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs the specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0125] The units or modules involved in the embodiments of the present application may be implemented by software rules or hardware rules. The units or modules described may also be provided in a processor. For example, they may be described as follows: a processor includes an acquisition module, a first model generation module, a second model generation module, and a model matching module. The names of these units or modules do not, in some cases, constitute limitations on the units or modules themselves. For example, the acquisition module may also be described as "a module for acquiring structural parameters of the area to be detected, the number of areas to be detected, and the association relationship between the areas to be detected".

[0126] As another aspect, the present application further provides a computer-readable storage medium, which may be included in the electronic device described in the above embodiment; or may exist independently and not be assembled into the electronic device. The above computer-readable storage medium stores one or more programs, and when the above programs are used by one or more processors to execute the map generation processing method described in the present application.

[0127] The above description is only a preferred embodiment of the present application and an explanation of the technical principles used. Those skilled in the art should understand that the scope of application involved in the present application is not limited to the technical solution formed by a specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the aforementioned application concept. For example, the above features are replaced with (but not limited to) technical features with similar functions applied in the present application.

Claims

1. A method for generating a water-cooled wall map, characterized in that: include: Acquire structural parameters of multiple areas to be detected, the number of multiple areas to be detected, and correlation relationships between the multiple areas to be detected; Generate a digital model of the water-cooled wall based on the structural parameters of the area to be inspected; The wall-climbing robot crawls through the area to be inspected in real time to obtain the slam grid map model of the area to be inspected; According to the number of the plurality of areas to be detected and the association relationship between the plurality of areas to be detected, the SLAM grid map model and the water-cooled wall digital model are matched to generate a water-cooled wall model; The step of matching the SLAM grid map model with the water-cooled wall digital model according to the number of the plurality of areas to be detected and the association relationship between the plurality of areas to be detected to generate the water-cooled wall model comprises: Determine a scan matching rule according to the number of the multiple areas to be detected and the association relationship between the multiple areas to be detected, wherein the scan matching rule includes an association scan rule and a single scan rule; When the area to be inspected satisfies a single scanning rule, matching the slam grid map model with the water-cooled wall digital model based on the single scanning rule to generate a water-cooled wall model; When there are multiple areas to be detected that are associated with each other, the SLAM grid map model and the water-cooled wall digital model are matched based on an associated scanning rule to generate a water-cooled wall model; When the area to be detected satisfies a single scanning rule, matching the slam grid map model with the water-cooled wall digital model based on the single scanning rule to generate the water-cooled wall model comprises: According to a preset screening rule, the number of the sunken areas in the area to be detected and the positional relationship of the sunken areas are obtained; Determine the water-cooled wall digital model of the area to be inspected that is associated with the area to be inspected according to the number of the sunken areas in the area to be inspected, the positional relationship of the sunken areas, the slam grid map model, and the water-cooled wall digital model, and generate a water-cooled wall model of the area to be inspected; When there are multiple areas to be detected that are associated with each other, matching the SLAM grid map model with the water-cooled wall digital model based on an associated scanning rule to generate a water-cooled wall model includes: Select one of the multiple associated areas to be detected; According to a preset screening rule, the number of the sunken areas in the area to be detected and the positional relationship of the sunken areas are obtained; Determine the water-cooled wall digital model of the area to be inspected that is associated with the area to be inspected according to the number of the sunken areas in the area to be inspected, the positional relationship of the sunken areas, the slam grid map model, and the water-cooled wall digital model, and generate a water-cooled wall model of the area to be inspected; Based on the association relationship of the multiple areas to be inspected, the water-cooled wall digital model and the area to be inspected, a water-cooled wall model of the area to be inspected associated with the area to be inspected is determined.

2. The map generation method according to claim 1, characterized in that: The water-cooled wall digital model is generated based on the structural parameters of the area to be detected: Generate digital model floor, pipe row information and no-climbing zone information based on the structural parameters of the area to be inspected; The pipe row information and the no-climbing zone information are marked on the digital model base plate based on preset data marking rules.

3. The map generation method according to claim 1, characterized in that: The method of crawling the area to be detected by the wall-climbing robot in real time to obtain the slam grid map model of the area to be detected includes: The slam dot map of the area to be detected is obtained based on the radar carried by the wall-climbing robot; Get the SLAM grid map model based on the preset editing rules and SLAM dot map.

4. The map generation method according to claim 1, characterized in that: The scanning matching rule is determined according to the number of the multiple areas to be detected and the association relationship between the multiple areas to be detected, and the scanning matching rule includes an association scanning rule and a single scanning rule, including: When the area to be detected is not associated with any other area to be detected, a single scanning rule is adopted; When the area to be detected has an association relationship with other areas to be detected, an association scanning rule is adopted for the multiple areas to be detected that have an association relationship.

5. The map generation method according to claim 1, characterized in that: Also included are monitoring methods: The wall-climbing robot obtains a slam grid map model of the area to be detected every preset first time period; By comparing the SLAM grid map model with the water-cooled wall model, different areas are screened out and marked as dangerous areas.

6. A water-cooled wall map generation system, characterized in that: include: An acquisition module (11) is used to acquire a structural parameter of at least one area to be detected, the number of at least one area to be detected, and an association relationship between at least one area to be detected; A first model generation module (12) is used to generate a water-cooled wall digital model based on structural parameters of the area to be detected; The second model generation module (13) is used to obtain a slam grid map model of the area to be detected by crawling the area to be detected by a wall-climbing robot in real time; A model matching module (14) is used to match the SLAM grid map model with the water-cooled wall digital model according to the number of the at least one area to be detected and the association relationship between the at least one area to be detected to generate a water-cooled wall model; the matching of the SLAM grid map model with the water-cooled wall digital model according to the number of the multiple areas to be detected and the association relationship between the multiple areas to be detected to generate a water-cooled wall model comprises: Determine a scan matching rule according to the number of the plurality of areas to be detected and the association relationship between the plurality of areas to be detected, the scan matching rule includes an association scan rule and a single scan rule; when the area to be detected satisfies the single scan rule, match the slam grid map model with the water-cooled wall digital model based on the single scan rule to generate a water-cooled wall model; when there are a plurality of areas to be detected that have an association relationship, match the slam grid map model with the water-cooled wall digital model based on the association scan rule to generate a water-cooled wall model; when the area to be detected satisfies the single scan rule, match the slam grid map model with the water-cooled wall digital model based on the single scan rule to generate a water-cooled wall model, comprising: obtaining the number of concave areas of the area to be detected and the positional relationship of the concave areas according to a preset screening rule; according to the number of concave areas of the area to be detected, the positional relationship of the concave areas, the slam grid map model, the water-cooled wall digital model, the water-cooled wall ... The method comprises the following steps: determining a water-cooled wall digital model of the area to be detected associated with the area to be detected based on the slam grid map model and the water-cooled wall digital model, and generating a water-cooled wall model of the area to be detected; when there are multiple areas to be detected that are associated with each other, matching the slam grid map model and the water-cooled wall digital model based on the associated scanning rule, and generating the water-cooled wall model comprises: selecting one area to be detected from multiple areas to be detected that are associated with each other; obtaining the number of recessed areas of the area to be detected and the positional relationship of the recessed areas according to a preset screening rule; determining a water-cooled wall digital model of the area to be detected associated with the area to be detected according to the number of recessed areas of the area to be detected, the positional relationship of the recessed areas, the slam grid map model and the water-cooled wall digital model, and generating a water-cooled wall model of the area to be detected; determining the water-cooled wall model of the area to be detected associated with the area to be detected based on the associated relationship of multiple areas to be detected, the water-cooled wall digital model and the area to be detected.

7. An electronic device, characterized in that: The method comprises a memory and a processor, wherein the memory stores a computer program, and the processor implements the method as claimed in any one of claims 1 to 5 when executing the program.

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