Crawling detection device, crawling control method, and electronic device

Abstract

The embodiment of the application provides a crawling detection device, a crawling control method and an electronic device, and relates to the technical field of wall-climbing robots. The crawling detection device comprises a chassis and at least two steering wheels, the chassis comprises at least three bottom plates arranged side by side, and adjacent two bottom plates are rotationally connected. The bottom plate comprises a first mounting portion and a second mounting portion, the first mounting portion and the second mounting portion are respectively adjacent to two opposite non-connected edges of the bottom plate, at least two steering wheels are respectively mounted on the first mounting portion and the second mounting portion of different bottom plates, and thus, when the crawling detection device turns on a wall surface with different radii of curvature, the initial pose of the crawling detection device can be ensured unchanged by controlling the turning of the plurality of steering wheels, and then the crawling direction of the crawling detection device is adjusted, so that the chassis of the crawling detection device is always in close contact with the wall surface, the crawling detection device is effectively prevented from falling off the wall surface, and the detection safety is greatly improved.

Description

Technical Field

[0001] This invention relates to the field of wall-climbing robot technology, and more specifically, to a crawling detection device, a crawling control method, and an electronic device. Background Technology

[0002] After a certain period of flight, civil aircraft need to undergo inspection for surface damage to their skin, such as impact dents, lightning strikes, cracks, scratches, and corrosion. This inspection requires comprehensive coverage of all parts of the aircraft, including the back, wings, and tail. Since many parts of the wind turbine are cylindrical structures with varying radii of curvature, the inspection is high-risk and challenging.

[0003] Currently, wall-climbing robots are commonly used to inspect various parts of aircraft. However, when a wall-climbing robot crawls and turns on a wall, the entire robot may deflect, causing it to lose contact with the wall and posing a risk of falling. Summary of the Invention

[0004] Based on the above research, the present invention provides a crawling detection device, a crawling control method, and an electronic device. By controlling multiple steering wheels of the crawling detection device to steer, the crawling direction of the crawling detection device is adjusted, avoiding the overall deflection of the crawling detection device, ensuring that the chassis of the crawling detection device is always in contact with the wall surface, effectively preventing the crawling detection device from falling off the wall surface, and greatly improving the detection safety.

[0005] The embodiments of the present invention can be implemented through the following aspects:

[0006] In a first aspect, embodiments of the present invention provide a crawling detection device, characterized in that it is used for detecting apparent damage to walls with different radii of curvature, the crawling detection device comprising:

[0007] The chassis includes at least three side-by-side base plates, which are rotatably connected to adjacent base plates to adapt the chassis to walls with different radii of curvature; each base plate includes a first mounting portion and a second mounting portion, which are respectively adjacent to two opposite non-connected edges of the base plate.

[0008] At least two steering wheels, each mounted on a first mounting portion and a second mounting portion of a different base plate.

[0009] Secondly, embodiments of the present invention provide a crawling control method applied to the aforementioned crawling detection device, which is used to perform apparent damage detection on walls with different radii of curvature. The crawling control method includes:

[0010] Determine the area to be inspected on the wall surface to be tested;

[0011] Multiple steering wheels installed on the crawling detection device are controlled to crawl in the area to be inspected. When the device reaches each preset turning point in the area to be inspected, the multiple steering wheels are controlled to turn so that the crawling detection device can adjust its crawling direction while maintaining its initial posture.

[0012] This invention provides a crawling detection device, a crawling control method, and an electronic device. The crawling detection device includes a chassis and at least two steering wheels. The chassis includes at least three side-by-side base plates, with adjacent base plates rotatably connected to each other to adapt the chassis to walls with different radii of curvature. Each base plate includes a first mounting portion and a second mounting portion, which are respectively adjacent to two opposite, non-connected edges. By mounting at least two steering wheels to the first and second mounting portions of different base plates, when the crawling detection device turns on walls with different radii of curvature, controlling the steering of multiple steering wheels ensures that the initial posture of the crawling detection device remains unchanged. Furthermore, when adjusting the crawling direction of the crawling detection device, the chassis of the crawling detection device remains in contact with the wall, effectively preventing the crawling detection device from falling off the wall and greatly improving detection safety. Attached Figure Description

[0013] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0014] Figure 1 This is a schematic diagram of an actual scenario where the crawling detection device provided in this embodiment of the invention performs crawling detection on a wall surface.

[0015] Figure 2 This is a schematic diagram of the crawling detection device provided in an embodiment of the present invention.

[0016] Figure 3 This is a schematic diagram of the mounting portion on the base plate provided in an embodiment of the present invention.

[0017] Figure 4 This is a schematic diagram of a sealing skirt surrounding a base plate, as provided in an embodiment of the present invention.

[0018] Figure 5 This is another schematic diagram of the sealing skirt surrounding the base plate, as provided in an embodiment of the present invention.

[0019] Figure 6 This is a flowchart of a crawling control method provided in an embodiment of the present invention.

[0020] Figure 7This is a crawling diagram of the crawling detection device provided in an embodiment of the present invention.

[0021] Figure 8 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention.

[0022] Icons: 1-Base plate, 2-Steering wheel, 3-Non-connected edge, 4-Connected edge, 5-Crawling detection device, 6-First mounting part, 7-Second mounting part, 8-Sealing skirt, 9-Detection component, 100-Electronic device; 10-Crawling control device; 20-Memory; 30-Processor; 40-Communication unit. Detailed Implementation

[0023] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, 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. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0024] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0025] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0026] In the description of this invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; 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; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0027] After a certain flight time and distance, civil aircraft require inspection for surface damage to their skin, such as dents, lightning strikes, cracks, scratches, and corrosion. This inspection necessitates a comprehensive check of all parts of the aircraft, including the back, wings, and tail. Many components of wind turbines are cylindrical structures with varying radii of curvature, making the inspection high-risk and challenging. Currently, wall-climbing robots are commonly used for this purpose. These robots have a chassis consisting of two rotating plates that adapt to the wall surface, and magnetic wheels are mounted underneath for movement. However, when these robots turn or climb on the wall, the overall rotation causes the base plates to misalign with the surface, leading to falls.

[0028] Based on the above, combined with Figure 1 As shown, this embodiment provides a practical scenario, including a crawling detection device and a wall surface to be inspected. The crawling detection device crawls on the wall surface and performs surface damage detection. In this embodiment, the radius of curvature of the wall surface is not limited. The crawling detection device includes a chassis, a detection component, and at least two steering wheels. The chassis includes multiple base plates arranged side-by-side, with adjacent base plates rotatably connected to adapt the chassis to walls with different radii of curvature. When the crawling detection device needs to turn on walls with different radii of curvature, the crawling direction of the crawling detection device is adjusted by controlling the steering of the multiple steering wheels, while ensuring that the initial posture of the crawling detection device remains unchanged. This keeps the chassis of the crawling detection device in contact with the wall surface, effectively preventing the crawling detection device from falling off the wall surface and greatly improving detection safety.

[0029] based on Figure 1 In real-world scenarios, combined with Figures 2 to 5 This embodiment provides a crawling detection device 5, which includes a chassis and at least two steering wheels 2.

[0030] In this embodiment, the chassis is bendable, and the shape of the bent chassis is adapted to the wall surface to be inspected. It should be noted that the shape of the bent chassis is only similar to the shape of the wall surface to be inspected, and is not necessarily exactly the same.

[0031] In one alternative implementation, the chassis may be a single plate-like component made of flexible material, and the shape of the chassis may be manually adjusted, for example, by fitting the chassis to the wall surface to be inspected so that the shape of the chassis is adapted to the shape of the wall surface to be inspected.

[0032] In another alternative embodiment, the chassis can also be made of a rigid material and includes multiple base plates 1 arranged side by side. For example, there may be three or more base plates 1, which is not limited in this embodiment. The rigid chassis rotates at the connection points to adapt to walls with different radii of curvature. The base plates 1 can have the same shape. To facilitate the control of the crawling detection device 5, it is common for each base plate 1 to have the same shape, for example, each base plate 1 is rectangular. In this embodiment, for ease of implementation and explanation, the base plates 1 described below are all rectangular base plates 1.

[0033] It should be noted that adjacent base plates 1 are rotatably connected. Specifically, multiple base plates 1 can be arranged side-by-side from left to right or right to left, with each base plate 1 adjacent to at least one other base plate 1. Adjacent base plates 1 are rotatably connected, meaning that the angle between adjacent base plates 1 can be changed by rotation. By adjusting the angle between adjacent base plates 1, the shape of the chassis adapts to the shape of the wall surface to be inspected. It is easy to understand that the smaller the width of the rectangular base plate 1 and the more base plates 1 there are, the better the fit between the chassis and the wall surface.

[0034] In this embodiment, combined with Figure 2 As shown, the edge on which one base plate 1 is rotatably connected to another base plate 1 is the connecting edge 4 of that base plate 1. Correspondingly, the edge on which one base plate 1 is not rotatably connected to any other base plate 1 is the non-connecting edge 3 of that base plate 1. It should be noted that the connecting edges 4 and non-connecting edges 3 on each base plate 1 are not necessarily the same. For example, base plates 1 located at both ends of the arrangement have only one adjacent base plate 1 and have three non-connecting edges 3 and one connecting edge 4. For a base plate 1 located in the middle arrangement, it has two connecting edges 4 and two non-connecting edges 3, and the positions of the two connecting edges 4 and the two non-connecting edges 3 are opposite each other.

[0035] In this embodiment, combined with Figure 3As shown, the base plate 1 includes a first mounting portion 6 and a second mounting portion 7. The first mounting portion 6 and the second mounting portion 7 are respectively adjacent to two opposing non-connected edges 3 of the base plate 1. For example, the first mounting portion 6 is adjacent to one non-connected edge 3 of the base plate 1, and the second mounting portion 7 on the same base plate 1 is adjacent to another non-connected edge 3. The two non-connected edges 3 are arranged opposite to each other, that is, the first mounting portion 6 and the second mounting portion 7 are arranged opposite to each other. At least one steering wheel 2 is mounted on the first mounting portion 6 of one base plate 1, and at least another steering wheel 2 is mounted on the second mounting portion 7 of another base plate 1. That is, at least two steering wheels 2 are mounted on two different base plates 1, and one is mounted on the first mounting portion 6 of one base plate 1, and the other is mounted on the second mounting portion 7 of another base plate 1, forming an alternating arrangement. For example, there are three base plates A, B, and C arranged side by side, with base plate B located between base plate A and base plate C. There are also two steering wheels 2, one of which is installed in the first mounting part 6 of base plate A, and the other is installed in the second mounting part 7 of base plate C. The two steering wheels 2 form an interlaced arrangement on the chassis.

[0036] Because the steering wheel 2 adopts an integrated design, it is small in size and light in weight. The steering wheel 2 integrates the drive system and steering system. The chassis is fixedly connected to the rotating shaft, and the rotating shaft is rotatably connected to the bracket of the steering wheel 2 itself. When the crawling detection device 5 turns, the steering system mounted on the bracket controls the steering wheel 2 to rotate around the rotating shaft, thereby realizing the steering wheel 2's steering. At the same time, it can also keep the crawling detection device itself from deflecting, so that the crawling detection device 5 can move in all directions without rotating the body. In addition, if the crawling detection device 5 deviates from the direction of travel when moving towards a target point, the speed of the two steering wheels 2 can be adjusted by the drive system to control the crawling detection device 5 to return to the direction of travel. For example, if the crawling detection device 5 is crawling towards point A according to a preset path, and a leftward deviation is detected during the crawling process, the speed of the left steering wheel 2 is increased, thereby causing the crawling detection device 5 to deviate to the right, so that the crawling detection device 5 returns to the predetermined path.

[0037] Therefore, when the crawling detection device 5 needs to turn on the wall, it can be turned by controlling the steering wheel 2, and the crawling detection device 5 can be translated and turned while keeping its position unchanged, so as to prevent the crawling detection device 5 from falling off the wall.

[0038] It should be noted that, in another optional embodiment, the crawling detection device further includes at least one follower wheel; the follower wheel and the steering wheel 2 are respectively located on different base plates 1. Typically, there is at least one base plate 1 between the base plates 1 on which the steering wheels 2 are mounted, and each base plate 1 is equipped with at least one steering wheel 2 or a follower wheel. That is, there are at least two base plates 1 on which the steering wheels 2 are mounted, and between these two base plates 1 there is at least one base plate 1 on which the follower wheel or steering wheel 2 is mounted, typically the steering wheel 2. For example, there are five base plates 1, two steering wheels 2, and three follower wheels, arranged side by side as base plate A, base plate B, base plate C, base plate D, and base plate E. The first steering wheel 2 is mounted on the first mounting part 6 of base plate A, the second steering wheel 2 is mounted on the second mounting part 7 of base plate D, the first follower wheel is mounted on the second mounting part 7 of base plate B, the second follower wheel is mounted on the first mounting part 6 of base plate C, and the third follower wheel is mounted on the first mounting part 6 of base plate E. The steering wheels 2 and the follower wheels are arranged in a staggered manner, with each steering wheel 2 mounted on a different base plate 1. One is on the first mounting part 6 of the base plate 1, and the other is on the second mounting part 7 of the base plate 1. The two steering wheels 2 are essentially mounted diagonally on the chassis. This mounting method ensures that the motion model of the chassis is basically consistent when the crawling detection device 5 moves forward, backward, and lateral. The multiple base plates 1 in the middle position have follower wheels distributed alternately, making the force on the entire chassis more even. It should be noted that, considering the speed matching problem of the crawling detection device 5 during movement, setting two steering wheels 2 makes it easier to control the speed. Of course, three or more steering wheels 2 can also be set, and this embodiment does not limit this.

[0039] In this embodiment, the crawling detection device further includes a detection component 9, which performs surface damage detection on the wall surface along the crawling path. The detection component 9 is mounted on at least one base plate 1, typically on a base plate 1 in a central position, and is positioned on the side of the base plate 1 facing away from the wall. The detection component 9 is at a certain detection height from the wall surface, and its detection direction is adjustable. That is, without changing the orientation of the crawling detection device 5, the detection direction of the detection component 9 can be adjusted by rotating it. In an optional embodiment, a rotating base is provided on the side of at least one base plate 1 facing away from the wall, and a telescopic rod is mounted on the rotating base. It is easy to understand that the rotating base can rotate on the base plate 1, and the length of the telescopic rod is adjustable. The telescopic rod is perpendicular to the base plate 1, and the detection component 9 is mounted on the telescopic rod. When the rotating base rotates, it drives the telescopic rod and the detection component 9 on the telescopic rod to rotate together, thereby changing the detection direction of the detection component 9. In this way, if there are obstacles in the detection area on the left or right, making it inconvenient for the crawling detection device to turn around for detection, the detection direction of the detection component 9 can be adjusted to repeat the detection on the current detection path, so that the wall turns to the adjacent detection area, while still being able to complete the detection of the adjacent detection area.

[0040] In summary, because the chassis includes at least three side-by-side base plates 1, and adjacent base plates 1 are rotatably connected, the chassis can adapt to walls with different radii of curvature. By mounting at least two steering wheels 2 to the first mounting portion 6 and the second mounting portion 7 of different base plates 1 respectively, when the crawling detection device 5 turns on the wall, controlling the steering of multiple steering wheels 2 can ensure that the initial posture of the crawling detection device 5 remains unchanged while adjusting the crawling direction of the crawling detection device 5, thereby effectively preventing the crawling detection device 5 from falling off the wall and greatly improving detection safety.

[0041] In addition, combined Figure 4 , Figure 5As shown, in this embodiment, the crawling detection device 5 further includes a sealing skirt 8 and a negative pressure suction device. The sealing skirt 8 surrounds at least the non-connected edges 3 of each base plate 1. For example, the sealing skirt 8 may only surround the non-connected edges 3 of each base plate 1; alternatively, the sealing skirt 8 may be provided around both the connected edges 4 and the non-connected edges 3 of each base plate 1. It should be noted that the base plate 1, the sealing skirt 8, and the wall surface can form a negative pressure chamber. To adsorb the chassis onto the wall surface, the negative pressure suction device can continuously extract gas from the negative pressure chamber. The sealing skirt 8 is a soft and elastic skirt, for example, a sealing skirt 8 made of silicone material, i.e., the sealing skirt 8 is a flexible silicone part. When the air pressure in the negative pressure chamber is lower than the external air pressure, the sealing skirt 8 is compressed and adhered to the wall surface, ensuring a certain degree of airtightness in the negative pressure chamber, thereby creating a negative pressure adsorption effect.

[0042] In detail, the negative pressure suction device is installed on at least one base plate 1, and the negative pressure suction device is connected to the negative pressure chamber. It is easy to understand that since the negative pressure suction device is installed on the base plate 1, it may be installed on one base plate 1 or multiple base plates 1; the specific installation depends on the size of the base plate 1 and the size of the negative pressure suction device. The negative pressure suction device can be an exhaust fan, which continuously draws gas from the negative pressure chamber, thereby adhering the chassis to the wall surface.

[0043] In this embodiment, the multiple base plates 1 include a main base plate and multiple secondary base plates, with the secondary base plates connected in series with at least one side of the main base plate. For example, there can be one main base plate and four secondary base plates. The main base plate can be placed in the middle, with two secondary base plates connected in series on each of the left and right sides of the main base plate. When the chassis adheres to the wall, the secondary base plates on the left and right sides rotate toward the main base plate, and each secondary base plate forms a shape that fits the wall with the main base plate. Alternatively, four secondary base plates can be connected in series on the right side of the main base plate. When the chassis adheres to the wall, the four secondary base plates on the right side rotate toward the main base plate, and each secondary base plate forms a shape that fits the wall with the main base plate. Another option is to connect three secondary base plates in series on the left side of the main base plate and one secondary base plate in series on the upper side of the main base plate. When the chassis adheres to the wall, the secondary base plates on the left and the upper side rotate toward the main base plate, and each secondary base plate forms a shape that fits the wall with the main base plate. It is worth noting that this connection method of the base plate 1 can also be applied to spherical surfaces.

[0044] In addition, in this embodiment, to facilitate understanding and implementation by those skilled in the art, at least two implementation methods are provided for sealing the base plate 1.

[0045] In one alternative sealing implementation, combined with Figure 4 As shown, the sealing skirt 8 surrounds the non-connected edges 3 of each base plate 1.

[0046] In detail, the sealing skirt 8 surrounds the non-connected edges 3 of each base plate 1, while the connecting edges 4 of the base plates 1 are not equipped with sealing skirts 8. That is, all the side-by-side base plates 1 are treated as a whole, and the sealing skirt 8 surrounds this whole. Considering that adjacent base plates 1 are rotatably connected, gaps inevitably appear between adjacent base plates 1. To ensure the airtightness of the negative pressure chamber, the crawling detection device 5 also includes a seam seal. The seam seal is located at the connecting edge 4 of any two adjacent base plates 1, and the seam seal is used to seal and cover the gaps between adjacent base plates 1. In other words, there are multiple seam seals to ensure that at least each gap between adjacent base plates 1 is sealed by a seam seal.

[0047] Commonly used seam seals are flexible rubber parts with metal skeletons. The gap is usually formed between two adjacent base plates 1. When sealing the gap, the left and right ends of the seam seal are tightly connected to the two base plates 1 that form the gap, and the front and rear ends of the seam seal are tightly connected to the sealing skirt 8, thereby sealing the gap and preventing the gas in the negative pressure chamber from leaking out from the gap between the adjacent base plates 1, thus ensuring the airtightness of the negative pressure chamber.

[0048] Furthermore, in this sealing method, a negative pressure adsorption port can be provided on one base plate 1 or multiple base plates 1. That is, at least one base plate 1 must have a negative pressure adsorption port. The number and location of the negative pressure adsorption ports can be set according to the actual situation, and this embodiment does not limit this. The negative pressure suction device is connected to the negative pressure chamber through the negative pressure adsorption port. The negative pressure suction device extracts gas from the negative pressure chamber through the negative pressure adsorption port so that the chassis is adsorbed onto the wall surface.

[0049] In another alternative sealing implementation, combined with Figure 5 As shown, each base plate 1 has a sealing skirt 8 along its edge. It should be explained that the edge includes connected edges 4 and non-connected edges 3. That is, each base plate 1 is surrounded by a sealing skirt 8, and each base plate 1 has a corresponding sealing skirt 8, so that each base plate 1, its respective sealing skirt 8, and the wall surface form a negative pressure chamber, and these negative pressure chambers are independent of each other. It should be noted that, under this sealing method, at least one negative pressure adsorption port needs to be provided on each base plate 1, and the number and position of the negative pressure adsorption ports on each base plate 1 can be set according to actual conditions; this embodiment does not limit this. The negative pressure suction device communicates with the negative pressure chamber through the negative pressure adsorption port, and the negative pressure suction device extracts gas from the negative pressure chamber through the negative pressure adsorption port, so that the base plate adheres to the wall surface.

[0050] If this sealing method is adopted, when the seal of one base plate 1 on the chassis fails, the other base plates 1 can still adhere to the wall surface, and if the number of base plates 1 with failed seals is within an acceptable range, the crawling detection device 5 can still operate. Therefore, an independent sealing method can improve sealing reliability.

[0051] This invention provides a crawling detection device, which includes a chassis, a detection component, and at least two steering wheels. The chassis includes at least three side-by-side base plates, with adjacent base plates rotatably connected to each other to adapt the chassis to walls with different radii of curvature. Each base plate includes a first mounting portion and a second mounting portion, which are respectively adjacent to two opposing, non-connected edges. By mounting at least two steering wheels to the first and second mounting portions of different base plates, when the crawling detection device turns on the wall, controlling the steering of multiple steering wheels ensures that the initial posture of the crawling detection device remains unchanged while adjusting its crawling direction, effectively preventing the crawling detection device from falling off the wall and greatly improving detection safety.

[0052] based on Figure 1 The actual scenario shown, combined with Figure 6 As shown, this embodiment of the invention also provides a crawling control method applied to the crawling detection device in the foregoing embodiments. This crawling detection device is used to detect apparent damage to walls with different radii of curvature. The crawling control method can be executed by the crawling detection device or by an electronic device. It should be noted that the electronic device can be integrated into the crawling detection device or can be independent of it, used to control the crawling detection device. The electronic device can be a handheld remote control or a mobile phone, etc.

[0053] The following is based on Figure 1 The illustrated practical scenario provides a detailed explanation of the steps of the crawling control method provided in this embodiment. Please refer to the relevant documentation. Figure 6 The crawling control method provided in this embodiment includes steps 101 to 102.

[0054] Step 101: Determine the area to be inspected on the wall surface to be tested.

[0055] The wall surface to be tested refers to the wall surface for which the crawling inspection equipment needs to perform surface damage detection. This wall surface is generally a cylindrical surface with different radii of curvature. It should be noted that the degree of bending of the crawling inspection equipment's chassis can be determined based on the wall surface's radius of curvature. Specifically, the chassis of the crawling inspection equipment includes multiple side-by-side base plates, which are rotatably connected. Knowing the radius of curvature of the wall surface to be tested, the multiple base plates can be controlled to rotate at a preset angle to adapt the crawling inspection equipment's chassis to the wall surface. The area to be inspected refers to the area on the wall surface to be tested that requires crawling inspection by the crawling inspection equipment. In this embodiment, the shape of the area to be inspected on the wall surface is not necessarily regular. To facilitate the inspection operation, a regularly shaped enclosing area can be determined based on the area to be inspected. For example, if the area to be inspected on the wall surface is an irregular quadrilateral, its four vertices are determined, the intersection of its diagonals is identified, the distance from this intersection to the four vertices is calculated, and the largest distance is selected. Twice this largest distance is used as the side length of the enclosing region, constructing a regular quadrilateral enclosing region that completely covers the area to be inspected. It should be noted that in this embodiment, the area to be inspected can be an irregular polygon; however, the enclosing region is commonly a regular quadrilateral. For ease of understanding and implementation by those skilled in the art, the detection area mentioned below, unless otherwise specified, refers to a rectangle.

[0056] Step 102: Control multiple steering wheels installed on the crawling detection device to crawl in the area to be inspected, and control the multiple steering wheels to turn when they reach each preset turning point in the area to be inspected, so that the crawling detection device can adjust its crawling direction while maintaining its initial posture.

[0057] The preset turning point refers to a pre-set location where the crawling inspection equipment needs to turn upon reaching it. Specifically, when the crawling inspection equipment reaches any turning point, it typically needs to translate and turn. At each turning point, the crawling inspection equipment's multiple steering wheels are controlled to adjust its crawling direction. As mentioned earlier, the steering wheels can rotate omnidirectionally while maintaining the crawling inspection equipment's initial posture. Therefore, the crawling inspection equipment can maintain good contact with the wall surface during turning, preventing it from falling off. Through translational turning, the crawling inspection equipment successfully enters the next work area for inspection. It should be explained that because the crawling inspection equipment has a limited inspection width, a large area to be inspected often requires the crawling inspection equipment to move up and down multiple times to complete the inspection. Each upward or downward crawling area can be considered a work area for the crawling inspection equipment; therefore, the area to be inspected can be understood as consisting of multiple work areas.

[0058] The crawling control method provided in this embodiment of the invention can ensure that the initial posture of the crawling detection device remains unchanged by controlling the steering of multiple steering wheels when the crawling detection device turns on the wall surface with different radii of curvature. In addition, when adjusting the crawling direction of the crawling detection device, the chassis of the crawling detection device is kept in contact with the wall surface, which effectively prevents the crawling detection device from falling off the wall surface and greatly improves the detection safety.

[0059] In one optional implementation, the step of controlling multiple steering wheels to turn when the crawling detection device reaches each preset turning point in the area to be inspected includes:

[0060] For each turning point reached by the crawling detection device, the next adjacent turning point is obtained according to the preset detection direction.

[0061] The rotation direction of the crawling detection device is determined based on the turning point reached by the crawling detection device and the next adjacent turning point.

[0062] The direction of rotation is controlled to steer multiple steering wheels of the crawling detection device.

[0063] In common crawling detection, the detection direction is preset, but it can be adjusted according to actual conditions. Combined with... Figure 7 As shown, common detection directions in the horizontal direction are generally from left to right or from right to left. In most crawling detection scenarios, after each horizontal movement, the crawling detection device often needs to crawl vertically once within the area to be inspected, i.e., from top to bottom or bottom to top. To reduce repeated crawling, the crawling detection device crawls vertically once, then moves horizontally, and then crawls vertically again, resulting in a winding and meandering crawling trajectory. A common detection direction is to first determine the starting and ending points at the left and right ends of the area to be inspected, and then connect the turning points in series.

[0064] For each turning point reached by the crawling detection device, the next adjacent turning point can be obtained according to the preset detection direction. Based on these two turning points, the rotation direction of the crawling detection device can be determined. For example, based on the detection direction, five turning points A, B, C, D, and E are set, and the position coordinates of each turning point are known. When the crawling detection device reaches turning point B, the rotation direction of the crawling detection device can be determined based on the position coordinates of turning point B and the next adjacent turning point C. The rotation direction can include an angle and a direction of turn. The angle refers to the angle the crawling detection device needs to rotate from turning point B to turning point C, and the direction of turn refers to the direction the crawling detection device needs to deflect. After obtaining the rotation direction, the crawling detection device controls multiple steering wheels to steer according to the rotation direction. It should be noted that the multiple steering wheels move at the same speed during the crawling motion.

[0065] In one optional implementation, the step of controlling multiple steering wheels disposed on the crawling detection device to crawl in the area to be inspected includes:

[0066] The crawling direction of the crawling detection device is compared with the preset travel direction.

[0067] If the comparison result exceeds the preset deviation error, the speed of multiple steering wheels of the crawling detection device will be adjusted according to the crawling direction and the travel direction.

[0068] It should be noted that ideally, we want the crawling detection device to crawl in a preset direction. However, in actual crawling, the crawling direction may deviate from the preset direction. When this happens, it is necessary to compare the crawling direction with the preset direction. This is done by periodically acquiring the position information of the crawling detection device and determining its crawling direction based on this information. The crawling direction is then compared with the preset direction to obtain the comparison result. It is then determined whether the comparison result exceeds a preset deviation error. This deviation error can refer to the deviation angle error, which is a preset value. If the comparison result does not exceed the deviation error, no adjustment is made to the crawling detection device's steering wheels. If the comparison result exceeds the deviation error, the speeds of the crawling detection device's multiple steering wheels are adjusted.

[0069] In detail, assume the crawling detection device has two steering wheels: one mounted on a first mounting part of one base plate, and the other on a second mounting part of another base plate. The first mounting part is located near the right side of the crawling detection device, and the second mounting part is near the left side. The device's position information is acquired, and its crawling direction is determined based on this information. Then, the crawling direction is compared with a preset travel direction. If the comparison result exceeds the deviation error, causing the crawling detection device to deviate to the right, the speed of the steering wheel on the first mounting part is increased, or the speed of the steering wheel on the second mounting part is decreased. By adjusting the speeds of the two steering wheels, the crawling detection device is controlled to return to its travel direction.

[0070] Assume the crawling detection device has three steering wheels: one mounted on a first mounting part of a base plate, and the other two mounted on second mounting parts of two different base plates. The device's position information is acquired, and its crawling direction is determined based on this information. This crawling direction is then compared to a preset travel direction. If the comparison result exceeds the deviation error, indicating a rightward deviation, the speed of the steering wheel on the first mounting part is increased, or the speed of the two steering wheels on the second mounting parts is decreased. Similarly, if the crawling detection device has four steering wheels, with two mounted on the first mounting parts of two different base plates and the other two on the second mounting parts of two different base plates, the speed of the two steering wheels on the first mounting part is increased, or the speed of the two steering wheels on the second mounting parts is decreased. The control behavior for other numbers of steering wheels can then be deduced.

[0071] In one alternative implementation, before controlling multiple steering wheels disposed on the crawling detection device to crawl in the area to be inspected, the crawling control method further includes:

[0072] Determine the preset turning points in the area to be inspected, and sort the turning points according to the detection direction of the crawling detection device to obtain the sorted turning points.

[0073] Based on the sorted turning points, multiple steering wheels installed on the crawling detection device are controlled to crawl in the area to be inspected.

[0074] In this embodiment, the shape of the area to be inspected on the wall surface is not necessarily regular. To facilitate the inspection operation, a regularly shaped enclosing area can be determined based on the area to be inspected. Multiple turning points are set within the enclosing area, for example, on the edge of the enclosing area. Commonly, the turning points can be evenly distributed along two opposing lines of the enclosing area.

[0075] In this embodiment, it is easy to see that the crawling detection device only turns when it encounters a turning point, and the turning point is set in the area to be inspected. To facilitate understanding and implementation by those skilled in the art, this embodiment provides an optional implementation method for determining the turning point. Specifically, the steps for determining the preset turning points in the area to be inspected of the wall surface include:

[0076] Define the rectangular enclosing area that surrounds the area to be inspected.

[0077] Based on the vertices of the rectangular enclosed area, determine two arbitrary parallel boundary lines.

[0078] Based on the detection width of the crawling detection equipment, each turning point is determined on any two parallel boundary lines of the rectangular enclosed area.

[0079] The aforementioned content has already described the area to be inspected, and will not be repeated here. Based on the area to be inspected on the wall surface, a rectangular enclosing region can be determined. Specifically, the vertices of the area to be inspected can be obtained first. For example, the position information of each vertex of the area to be inspected can be measured using a total station, thereby obtaining the position information of the polygonal area to be inspected constructed from multiple vertices. After obtaining the position information of the area to be inspected, the rectangular enclosing region can be determined based on the position information of the area to be inspected. That is, a regular rectangular enclosing region is constructed based on the irregular polygonal area to be inspected. It should be noted that the rectangular enclosing region needs to completely cover the area to be inspected. Based on this principle, there are several ways to construct the rectangular enclosing region. For example, the four vertices of the area to be inspected can be determined, and then the intersection of the diagonals of this quadrilateral can be obtained. The distance from the intersection point to the four vertices can be calculated, and the maximum distance can be selected. This maximum distance is used as the radius to construct a circle. This circle is the incircle of a regular quadrilateral, and a rectangular enclosing region can be obtained based on this circle.

[0080] It should be noted that after determining the rectangular enclosing area, two arbitrary parallel boundary lines can be defined on the rectangular enclosing area based on its vertices, with each vertex of the rectangular enclosing area located on these two parallel boundary lines. Commonly, the boundary lines are set on two relatively parallel sides of the rectangular enclosing area, and the turning points are set on these two boundary lines. For example, the turning points are evenly distributed on the two parallel sides of the rectangular enclosing area, with the vertices of the rectangular enclosing area serving as turning points.

[0081] Furthermore, due to the maximum detection width of the detection component, the crawling detection device has a limited detection range. Therefore, for larger areas to be inspected, it often requires several vertical crawling passes to cover the entire area. It's easy to understand that the detection width affects the number of vertical crawling passes the crawling detection device needs; in other words, the minimum number of turning points is affected by the detection width and the area to be inspected. Since turning points are set on any two parallel boundary lines of the area to be inspected, the minimum number of turning points can be determined once the area to be inspected and the detection width of the crawling detection device are determined.

[0082] In one optional implementation, the step of sorting the turning points according to the detection direction to obtain the sorted turning points includes:

[0083] Using any vertex within the rectangular enclosed area as the starting point for turning, and the boundary line parallel to the boundary line where the starting point for turning is located as the target boundary line, the first target turning point closest to the starting point for turning is found on the target boundary line.

[0084] According to the detection direction, find the second target turning point that is closest to the first target turning point on the target boundary line.

[0085] Set the second target turning point as the new turning starting point, and take the boundary line parallel to the boundary line where the new turning starting point is located as the new target boundary line. On the new target boundary line, find the first target turning point that is closest to the new turning starting point, and repeat this process until all turning points have been traversed, thus completing the sorting of each turning point.

[0086] In this embodiment, the rectangular enclosed area generally has four vertices, and any one of these vertices can be used as the starting point for turning. The two boundary lines are parallel, and commonly, the boundary lines are the two opposite edges of the area to be inspected. After determining the starting point for turning, the other boundary line parallel to the boundary line where the starting point is located can be used as the target boundary line. The turning point closest to the starting point is found on the target boundary line and designated as the first target turning point. Then, following the detection direction, the second target turning point closest to the first target turning point is found on the target boundary line. This second target turning point is then used as the new starting point for turning, and the boundary line parallel to the boundary line where the new starting point is located is designated as the new target boundary line. The first target turning point closest to the new starting point is found on the new target boundary line, and this search process is repeated until all turning points have been traversed.

[0087] Once all turning points have been traversed, the turning points are sorted. In other words, the order in which the turning points were found determines their sorting. Based on the sorted turning points, multiple steering wheels installed on the crawling detection device are controlled to crawl within the inspection area, allowing for better detection and coverage of the entire area.

[0088] In this embodiment, after multiple turning points are sorted, the crawling detection device can be controlled to perform crawling detection on the area to be inspected based on the sorted turning points. Specifically, the steps of controlling the crawling detection device to perform crawling detection on the area to be inspected based on the sorted turning points include:

[0089] For any two adjacent turning points after sorting, the target crawling time for the two adjacent turning points is determined based on the preset target running speed, the preset target acceleration, and the distance between the two adjacent turning points.

[0090] Based on the target crawling time of the two adjacent turning points, the crawling detection device is controlled to perform crawling detection between the two adjacent turning points.

[0091] To better control the movement path of the crawling detection device and make it as close as possible to the pre-designed path, in this embodiment, a target running speed and a target acceleration are preset. Based on the preset target running speed, the preset target acceleration, and the distance between two adjacent turning points, the target crawling time for each adjacent turning point is determined. It should be noted that during this crawling time, the crawling detection device spends most of its time crawling at the target running speed. Therefore, the specific values ​​of the target running speed and target acceleration need to be adjusted according to the distance between the two turning points. In this embodiment, the target running speed and target acceleration can be different for all adjacent turning points.

[0092] After obtaining the target crawling time of the two adjacent turning points, the crawling detection device can be controlled to perform crawling detection between the two adjacent turning points based on the target crawling time of the two adjacent turning points.

[0093] In detail, the steps for controlling the crawl detection device to perform crawl detection between two adjacent turning points, based on the target crawl time of those two adjacent turning points, include:

[0094] Based on the target crawl time of the two adjacent turning points and the preset travel nodes, determine the travel time corresponding to each travel node between the two adjacent turning points.

[0095] For each travel time, the arrival position of the crawling detection device at that travel time is compared with the travel node corresponding to that travel time.

[0096] Based on the comparison results, the crawling speed of the crawling detection device is adjusted to control the crawling detection device to perform crawling detection between adjacent turning points.

[0097] Specifically, for any two adjacent turning points, corresponding travel nodes are pre-set. It should be noted that the number of travel nodes set for each pair of adjacent turning points can be the same or different. Based on the target crawl time of the two adjacent turning points and the pre-set travel nodes, the travel time corresponding to each travel node between the two adjacent turning points can be determined.

[0098] In one alternative implementation, the distance between two adjacent turning points can be divided into five equal parts. For example, for two adjacent turning points, the distance between the two turning points is two meters. This distance can be divided into five equal parts to obtain five travel nodes. Based on these five travel nodes, combined with the preset target running speed and target acceleration of the two adjacent turning points, the travel time corresponding to the five travel nodes can be obtained.

[0099] After obtaining the travel times corresponding to the five travel nodes, for each travel time, the position reached by the crawling detection device is obtained whenever the corresponding travel time is reached. The position of the crawling detection device is compared with the travel node corresponding to that travel time. Based on the comparison result, the crawling speed of the crawling detection device is adjusted, thereby controlling the crawling detection device to perform crawling detection between adjacent turning points.

[0100] In detail, when the crawling detection device's arrival position lags behind the corresponding travel node within the specified travel time, the crawling speed needs to be increased for the subsequent crawling. The travel distance between the current arrival position and the next travel node can be calculated. Then, based on the current travel time, the travel time of the next node, and the travel distance, the travel acceleration and travel speed for the next crawling step are calculated to ensure that the device reaches the next travel node within the next travel time as much as possible. Conversely, when the crawling detection device's arrival position exceeds the corresponding travel node within the specified travel time, the crawling speed needs to be reduced for the subsequent crawling. The calculation basis is similar to that for the lag case and will not be elaborated here.

[0101] The crawling control method provided in this embodiment of the invention can ensure that the initial posture of the crawling detection device remains unchanged by controlling the steering of multiple steering wheels when the crawling detection device turns on the wall surface with different radii of curvature. In addition, when adjusting the crawling direction of the crawling detection device, the chassis of the crawling detection device is kept in contact with the wall surface, which effectively prevents the crawling detection device from falling off the wall surface and greatly improves the detection safety.

[0102] based on Figure 1 The usage scenarios shown, combined with Figure 8 This embodiment provides an electronic device 100, which may include a crawling control device 10, a memory 20, a processor 30 and a communication unit 40. The memory 20 stores machine-readable instructions that can be executed by the processor 30. When the electronic device 100 is running, the processor 30 and the memory 20 communicate through a bus. The processor 30 executes the machine-readable instructions and performs the crawling control method.

[0103] The memory 20, processor 30, and communication unit 40 are electrically connected directly or indirectly to each other to achieve signal transmission or interaction. For example, these components can be electrically connected to each other through one or more communication buses or signal lines. The crawling control device 10 includes at least one software function module that can be stored in the memory 20 in the form of software or firmware. The processor 30 is used to execute the executable module (e.g., the software function module or computer program included in the crawling control device 10) stored in the memory 20.

[0104] The memory 20 may be, but is not limited to, random access memory (RAM), read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), etc.

[0105] In some embodiments, processor 30 is used to perform one or more functions described in this embodiment. In some embodiments, processor 30 may include one or more processing cores (e.g., a single-core processor (S) or a multi-core processor (S)). By way of example only, processor 30 may include a central processing unit (CPU), an application-specific integrated circuit (ASIC), an application-specific instruction-set processor (ASIP), a graphics processing unit (GPU), a physical processing unit (PPU), a digital signal processor (DSP), a field-programmable gate array (FPGA), a programmable logic device (PLD), a controller, a microcontroller unit, a reduced instruction set computing (RISC) computer, or a microprocessor, or any combination thereof.

[0106] For ease of explanation, only one processor is described in electronic device 100. However, it should be noted that electronic device 100 in this embodiment may also include multiple processors, and therefore the steps performed by one processor as described in this embodiment may also be performed jointly or individually by multiple processors. For example, if the server's processor performs steps A and B, it should be understood that steps A and B may also be performed jointly by two different processors or individually by one processor. For example, one processor performs step A, and a second processor performs step B, or the first and second processors jointly perform steps A and B.

[0107] In this embodiment, the memory 20 is used to store the program, and the processor 30 is used to execute the program after receiving the execution instruction. The process definition method disclosed in any implementation of this embodiment can be applied to the processor 30, or implemented by the processor 30.

[0108] The communication unit 40 is used to establish a communication connection between the electronic device 100 and other devices via a network, and to send and receive data via the network.

[0109] In some implementations, the network can be any type of wired or wireless network, or a combination thereof. By way of example only, the network may include wired networks, wireless networks, fiber optic networks, telecommunications networks, intranets, the Internet, local area networks (LANs), wide area networks (WANs), wireless local area networks (WLANs), metropolitan area networks (MANs), public switched telephone networks (PSTNs), Bluetooth networks, ZigBee networks, or near field communication (NFC) networks, or any combination thereof.

[0110] In this embodiment, the electronic device 100 may be, but is not limited to, a laptop computer, an ultra-mobile personal computer (UMPC), a netbook, a personal digital assistant (PDA), or other electronic devices. This embodiment does not impose any restrictions on the specific type of electronic device.

[0111] Understandably, Figure 8 The structure shown is for illustrative purposes only. The electronic device 100 may also have... Figure 8 Showing more or fewer components, or having with Figure 8 The different configurations shown. Figure 8 The components shown can be implemented using hardware, software, or a combination thereof.

[0112] Based on the above, this embodiment provides a readable storage medium on which a computer program is stored. When the computer program is executed by a processor, it implements the crawling control method of any of the aforementioned embodiments.

[0113] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working process of the readable storage medium described above can be referred to the corresponding process in the aforementioned method, and will not be elaborated further here.

[0114] In summary, the crawling detection device, crawling control method, and electronic device provided by the embodiments of the present invention include a chassis, a detection component, and at least two steering wheels. The chassis includes at least three side-by-side base plates, with adjacent base plates rotatably connected to each other to adapt the chassis to walls with different radii of curvature. Each base plate includes a first mounting portion and a second mounting portion, which are respectively adjacent to two opposite, non-connected edges. By mounting at least two steering wheels to the first and second mounting portions of different base plates, when the crawling detection device turns on walls with different radii of curvature, controlling the steering of multiple steering wheels ensures that the initial posture of the crawling detection device remains unchanged. Furthermore, when adjusting the crawling direction of the crawling detection device, the chassis of the crawling detection device remains in contact with the wall, effectively preventing the crawling detection device from falling off the wall and greatly improving detection safety.

[0115] The above descriptions are merely various embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A crawling detection device, characterized in that, The crawling detection device is used for apparent damage detection on the walls of aircraft with different radii of curvature. The chassis includes at least three side-by-side base plates, which are rotatably connected to adjacent base plates to adapt the chassis to walls with different radii of curvature; each base plate includes a first mounting portion and a second mounting portion, which are respectively adjacent to two opposite non-connected edges of the base plate. At least two steering wheels are mounted on a first mounting portion and a second mounting portion of different base plates; the steering wheels integrate a drive system and a steering system; The crawling detection device further includes a detection component for detecting apparent damage to the wall surface; the detection component is disposed on at least one of the base plates; The crawling detection device also includes a sealing skirt and a negative pressure suction device; the sealing skirt at least surrounds the non-connected edges of each base plate; the base plate, the sealing skirt, and the wall can enclose a negative pressure chamber; the negative pressure suction device is disposed on at least one base plate; at least one of the base plates is provided with a negative pressure suction port; the negative pressure suction device is connected to the negative pressure chamber through the negative pressure suction port. The crawling detection device also includes a seam seal; the seam seal is located at the edge where any two adjacent base plates connect, and the seam seal is used to seal and cover the gap between adjacent base plates.

2. The crawling detection device according to claim 1, characterized in that, The crawling detection device also includes at least one follower wheel mounted on the base plate, and each of the steering wheels and each of the follower wheels are mounted on different base plates.

3. A crawling control method, characterized in that, The crawling detection device according to any one of claims 1-2, wherein the crawling detection device is used to perform apparent damage detection on the walls of an aircraft with different radii of curvature, and the crawling control method includes: Determine the area to be inspected on the wall surface to be tested; Multiple steering wheels installed on the crawling detection device are controlled to crawl in the area to be inspected, and when they reach each preset turning point in the area to be inspected, the multiple steering wheels are controlled to turn, so that the crawling detection device can adjust its crawling direction while maintaining its initial posture; The control mechanism, which is configured to allow multiple steering wheels of the crawling detection device to crawl in the area to be inspected, includes: The crawling direction of the crawling detection device is compared with the preset travel direction; If the comparison result exceeds the preset deviation error, the speed of multiple steering wheels of the crawling detection device is adjusted according to the crawling direction and the traveling direction. The step of controlling the steering of the plurality of steering wheels when reaching each preset steering point in the area to be inspected includes: For each turning point reached by the crawling detection device, the next adjacent turning point is obtained according to the preset detection direction; The rotation direction of the crawling detection device is determined based on the turning point reached by the crawling detection device and the next turning point adjacent to the turning point; The rotation direction is controlled to steer multiple steering wheels of the crawling detection device.

4. The crawling control method according to claim 3, characterized in that, The control is set before the multiple steering wheels of the crawling detection device crawl in the area to be inspected, and the crawling control method further includes: Determine each preset turning point in the area to be inspected, and sort each turning point according to the detection direction of the crawling detection device to obtain sorted turning points; The control mechanism, which is configured to allow multiple steering wheels of the crawling detection device to crawl in the area to be inspected, includes: Based on the sorted turning points, multiple steering wheels installed on the crawling detection device are controlled to crawl in the area to be inspected.

5. The crawling control method according to claim 4, characterized in that, The step of determining the preset turning points in the area to be inspected includes: Determine the rectangular enclosing region that surrounds the area to be inspected; Based on the vertices of the rectangular enclosed area, determine two arbitrary parallel boundary lines; Based on the detection width of the crawling detection device, each turning point is determined on any two parallel boundary lines of the rectangular enclosed area.

6. The crawling control method according to claim 4, characterized in that, The step of sorting the turning points according to the detection direction of the crawling detection device to obtain the sorted turning points includes: Using any vertex within the rectangular enclosed area as the starting point of the turn, and the boundary line parallel to the boundary line where the starting point of the turn is located as the target boundary line, the first target turning point closest to the starting point of the turn is found on the target boundary line. According to the detection direction, find the second target turning point that is closest to the first target turning point on the target boundary line; Set the second target turning point as the new turning starting point, and take the boundary line parallel to the boundary line where the new turning starting point is located as the new target boundary line. Find the first target turning point that is closest to the new turning starting point on the new target boundary line, and repeat this process until all turning points have been traversed, thus completing the sorting of all turning points.

7. An electronic device, characterized in that, The electronic device includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the crawling control method according to any one of claims 3-6.

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