Matrix curvature measuring device for wall-climbing robot and working method of matrix curvature measuring device

Abstract

The invention discloses a matrix curvature measuring device for a wall-climbing robot and a working method thereof, and the device comprises a wall-climbing robot rack which is used for loading an electromagnetic distance sensor; the adsorption wall surface is arranged on the wall-climbing robot rack, and a magnetic adsorption module is arranged on the adsorption wall surface; and an algorithm module is arranged in the electromagnetic distance sensor. The five-point type matrix curvature measuring device does not need to be in direct contact with a measured curved surface, can be carried on mobile equipment such as a wall-climbing robot to collect curved surface feature information in real time, and the curved surface feature information is processed through an algorithm module to achieve curvature detection of the curved surface. Compared with three-point and four-point sensor arrangement, the five-point matrix measuring device has the advantages that the acquired curved surface feature information is increased by more than two times, and compared with more-point sensor arrangement, the benefit of increasing a single sensor is less than two times, and greater cost investment is brought.

Description

Technical Field

[0001] The present invention relates to the technical field of wall-climbing robots, and in particular to a matrix curvature measuring device for a wall-climbing robot and a working method thereof. Background Art

[0002] The curvature of the hull is complicated due to corrosion, welds, and attachment of marine organisms. When the magnetic wall-climbing robot is operating on the hull, it passes through adsorption surfaces with different curvatures. The ground clearance of the magnetic module is inconsistent, and the suction force of the magnet close to the adsorption surface and the side far from the adsorption surface is different. The torque acting on the magnet causes the magnet and the fixings to be subjected to torque, which can easily cause fatigue damage to the fixings. In addition, when the robot passes through these areas, the curvature changes, causing the suction force generated by the magnetic module to fluctuate. In severe cases, it can lead to insufficient suction and detachment from the wall, excessive adsorption force can damage structural parts, and increase the additional load on the drive motor.

[0003] During the crawling process of the wall-climbing robot, with the changes in the adsorption surface environment, such as hull corrosion, deformation, marine organism attachment, welds, etc., the curvature of these areas will suddenly change, causing the magnetic attraction force generated by the robot's magnetic attraction module to change dramatically. When it exceeds the robot's safe magnetic attraction force range, it will cause damage to the robot's structural parts and increase the additional load on the drive motor. In severe cases, the robot will fall off due to insufficient magnetic force, causing property loss and safety hazards.

[0004] For example, Chinese patent application No. 202211274217.2 mentions a “fiber optic curvature sensor and measurement method”, which introduces a highly sensitive, temperature-insensitive fiber optic sensor. However, the fiber optic sensor needs to be arranged in advance on the measured structural surface for curvature measurement, and is not suitable for real-time estimation of surface curvature.

[0005] As described by Huang Shizhuo in “Measuring Displacement Modes and Curvature Modes through Strain Arrays”, a low-cost strain gauge array sensor is used to extract the curvature changes of structures. However, the strain gauges need to be specially arranged in advance for the structure to be measured and are not suitable for real-time detection of surface curvature.

[0006] For example, China's patent application No. 202311783245.1 mentions a "wall-climbing robot and a displacement method of a wall-climbing robot", which introduces a wall-climbing robot with strong working ability in complex working environments and with many obstacles. In order to adapt to the curved surface of the hull, the separately designed magnetic suction module is not easy to collide with the hull surface, thereby improving the magnetic adsorption effect. However, the curvature of the ship surface is changeable, and even welds, hull corrosion, etc. make the hull surface more complicated. Specially designed magnets are difficult to meet all curvature states. It can be equipped with the curvature measurement device for real-time monitoring and feedback.

[0007] To this end, it is necessary to propose a five-point matrix curvature measurement device that can be carried on a wall-climbing robot, has no direct contact with the surface of the structure, collects wall feature information in real time according to the robot's crawling wall status, sends it to the host computer algorithm module for processing, and calculates the current surface curvature. Summary of the invention

[0008] Therefore, the technical problem to be solved by the present invention is: based on the collected surface feature information, after processing by the algorithm module, the curvature of the current adsorption area can be calculated in real time; it can be compared with the preset safe curvature range, and when it approaches the dangerous value, an alarm is issued to warn the operator, and in an emergency, the robot movement is forcibly controlled to avoid safety accidents.

[0009] The above technical problem is solved by the following technical solution: The present invention proposes a matrix curvature measuring device for a wall-climbing robot, which comprises a wall-climbing robot frame, wherein the wall-climbing robot frame is used to load an electromagnetic distance sensor;

[0010] An adsorption wall surface, wherein the adsorption wall surface is arranged on the frame of the wall-climbing robot, and a magnetic adsorption module is arranged on the adsorption wall surface;

[0011] An algorithm module is arranged inside the electromagnetic distance sensor.

[0012] In a preferred embodiment of the matrix curvature measuring device for a wall-climbing robot described in the present invention: with the electromagnetic distance sensor as the vertex, four groups of electromagnetic distance sensors arranged in a trapezoidal shape are arranged in the outer circle, forming four different triangular grids, that is, forming four triangular faces.

[0013] In a preferred embodiment of the matrix curvature measuring device for a wall-climbing robot of the present invention: the curvature of the area enclosed by the measuring device is obtained through processing by an algorithm module according to the change in the angle between the normal vectors of adjacent triangular faces.

[0014] In a preferred embodiment of the matrix curvature measuring device for a wall-climbing robot of the present invention: the algorithm module processing includes:

[0015] For the i-th triangle, its two transformation vectors are expressed as and The normal vector of the triangle is calculated by formula (I)

[0016]

[0017] in, is the normal vector of the triangle, and are its two variable vectors respectively;

[0018] For adjacent triangular faces i and i+1, the average curvature change H of the two adjacent triangular faces is calculated by formula (II): i ;

[0019]

[0020] Among them, H i is the average curvature change of the two adjacent triangles; is the normal vector of the triangle, is the normal vector of the adjacent triangle, is the common edge vector of two adjacent triangles;

[0021] The five points of data collected at each moment can form four adjacent triangular faces. The normal vector of each triangular face can be obtained by formula (I), and the average curvature change can be calculated by formula (II). Then, for the four triangular face areas formed by the five points, their curvature, that is, the average curvature, can be calculated by formula (III).

[0022]

[0023] Among them, H is the average curvature of the four triangular areas formed by the five points; A s is the area of ​​the triangle formed by five points.

[0024] In a preferred embodiment of the matrix curvature measuring device for a wall-climbing robot of the present invention: based on the five-point matrix curvature measuring device, the four triangular faces at each moment share the same vertex, and the Gaussian curvature of the four triangular face areas formed by the five points can be calculated by formula (IV);

[0025]

[0026] Among them, K is the Gaussian curvature of the four triangular areas formed by five points; θ i is the arc value of the i-th triangle at the shared vertex, θ i It can be specifically calculated by formula (V);

[0027]

[0028] in, and are the two changing vectors of the i-th triangle face.

[0029] In a preferred implementation manner of the matrix curvature measuring device for a wall-climbing robot of the present invention: when the curvature of the area enclosed by the measuring device is within a safe range, the device does not issue an early warning.

[0030] In a preferred implementation manner of the matrix curvature measuring device for a wall-climbing robot of the present invention: when the curvature of the area enclosed by the measuring device exceeds a dangerous value, the system takes over the control of the device.

[0031] In a preferred implementation manner of the matrix curvature measuring device for a wall-climbing robot of the present invention: when the curvature of the area enclosed by the measuring device exceeds the safety range but does not exceed the danger value, the device issues an alarm.

[0032] Another object of the present invention is to overcome the deficiencies of the prior art and provide a working method of a matrix curvature measuring device for a wall-climbing robot, which includes a matrix curvature measuring device for a wall-climbing robot, and further includes:

[0033] During the crawling process of the wall-climbing robot, as the adsorption surface environment changes, the device collects surface information and calculates the curvature;

[0034] The device reacts accordingly based on the measured real-time surface curvature.

[0035] In a preferred embodiment of the working method of the matrix curvature measuring device for a wall-climbing robot described in the present invention: the device calculates the curvature of the current adsorption area in real time, which can be compared with a preset safe curvature range. When it approaches a dangerous value, an alarm is issued to warn the operator, and the robot movement is forcibly controlled in an emergency.

[0036] The beneficial effect of the present invention is that the five-point matrix curvature measurement device described in this patent does not need to be in direct contact with the measured surface, and can be carried on mobile devices such as wall-climbing robots to collect surface feature information in real time, and the curvature detection of the surface is realized after being processed by an algorithm module.

[0037] The five-point matrix measurement device described in this patent can collect more than twice the surface feature information compared to three-point and four-point sensor arrangements. Compared to more point sensor arrangements, the benefit of adding a single sensor is less than twice and brings greater cost investment.

[0038] The five-point matrix curvature measurement device described in this patent is suitable for ensuring the operation safety of the magnetic adsorption wall-climbing robot and reducing the risk of detachment from the wall or damage to the structural parts due to large fluctuations in magnetic force caused by changes in the curvature of the adsorption wall. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings of the embodiments of the present invention are briefly introduced below. Obviously, the drawings described below only relate to some embodiments of the present invention, but are not intended to limit the present invention. Among them:

[0040] Figure 1A schematic diagram showing the distribution of five-point matrix sensors of a matrix curvature measuring device for a wall-climbing robot according to the present invention is shown;

[0041] Figure 2 A schematic diagram showing the robot magnetic suction module passing through a curved surface;

[0042] Figure 3 A schematic diagram showing the relationship between the magnetic attraction force of the magnetic attraction module and the magnetic flux density modulus and curvature of points A and B of the magnet;

[0043] Figure 4 The present invention shows a flow chart of surface information acquisition and calculation of a matrix curvature measurement device for a wall-climbing robot;

[0044] Figure 5 The safety control flow chart of the matrix curvature measuring device for a wall-climbing robot of the present invention is shown. DETAILED DESCRIPTION

[0045] In order to enable those skilled in the art to better understand the present invention, the present invention is further described in detail below in conjunction with specific implementation methods and drawings.

[0046] The terms used in the present invention are those general terms currently widely used in the art in consideration of the functions of the present invention, but these terms may vary according to the intention of a person of ordinary skill in the art, precedents, or new technologies in the art. In addition, specific terms may be selected by the applicant, and in this case, their detailed meanings will be described in the detailed description of the present invention. Therefore, the terms used in the specification should not be understood as simple names, but rather as a general description based on the meaning of the terms and the present invention.

[0047] Reference Figure 1-Figure 2 The present embodiment provides a matrix curvature measuring device for a wall-climbing robot, comprising a wall-climbing robot frame 1, the wall-climbing robot frame 1 is used to load an electromagnetic distance sensor 11, an adsorption wall 2, the adsorption wall 2 is arranged on the wall-climbing robot frame 1, and a magnetic suction module 21 is arranged on the adsorption wall 2; an algorithm module is arranged inside the electromagnetic distance sensor, when the robot is crawling, passing through areas such as hull corrosion, deformation, marine organism attachment, and welds, the curvature of the adsorption wall 2 changes, so that the ground clearance of the robot's magnetic suction module 21 is inconsistent, and as the wall-climbing robot moves, the curvature of the adsorbed wall 2 in the current state is monitored and calculated in real time, and compared with a preset curvature safety range, when the detected curvature value is close to a dangerous value, a corresponding alarm is issued, and when the detected curvature is within the dangerous range, feedback is given to the control system and the control of the robot is forcibly taken over; the curvature measuring device reflects the magnetic safety status of the robot in real time and improves the overall safety to a certain extent.

[0048] Reference Figure 3As an optional embodiment, with the electromagnetic distance sensor as the vertex, four groups of electromagnetic distance sensors arranged in a trapezoidal shape are arranged in the outer circle, forming four different triangular grids, that is, forming four triangular faces.

[0049] Preferably, the curvature of the area surrounded by the measuring device is obtained by processing the algorithm module according to the change in the angle between the normal vectors of adjacent triangular faces.

[0050] The algorithm module processing includes:

[0051] For the i-th triangle, its two transformation vectors are expressed as and The normal vector of the triangle is calculated by formula (I)

[0052]

[0053] in, is the normal vector of the triangle, and are its two variable vectors respectively;

[0054] For adjacent triangular faces i and i+1, the average curvature change H of the two adjacent triangular faces is calculated by formula (II): i ;

[0055]

[0056] Among them, H i is the average curvature change of the two adjacent triangles; is the normal vector of the triangle, is the normal vector of the adjacent triangle, is the common edge vector of two adjacent triangles;

[0057] The five points of data collected at each moment can form four adjacent triangular faces. The normal vector of each triangular face can be obtained by formula (I), and the average curvature change can be calculated by formula (II). Then, for the four triangular face areas formed by the five points, their curvature, that is, the average curvature, can be calculated by formula (III).

[0058]

[0059] Among them, H is the average curvature of the four triangular areas formed by the five points; A s is the area of ​​the triangle formed by five points.

[0060] Based on the five-point matrix curvature measurement device, the four triangular faces at each moment share the same vertex, and the Gaussian curvature of the four triangular face areas formed by the five points can be calculated by formula (IV);

[0061]

[0062] Among them, K is the Gaussian curvature of the four triangular areas formed by five points; θ i is the arc value of the i-th triangle at the shared vertex, θ i It can be specifically calculated by formula (V);

[0063]

[0064] in, and are the two changing vectors of the i-th triangle face.

[0065] Reference Figure 4-Figure 5 This embodiment provides a working logic of a matrix curvature measuring device for a wall-climbing robot. When the curvature of the area enclosed by the measuring device is within a safe range, the device does not issue an early warning; when the curvature of the area enclosed by the measuring device exceeds a dangerous value, the system takes over the control of the device; when the curvature of the area enclosed by the measuring device exceeds the safe range but does not exceed the dangerous value, the device issues an alarm.

[0066] This embodiment provides a working method of a matrix curvature measurement device for a wall-climbing robot. During the crawling process of the wall-climbing robot, as the adsorption surface environment changes, the device collects surface information and calculates the curvature;

[0067] The device makes corresponding reaction actions according to the measured real-time surface curvature.

[0068] In some embodiments, five electromagnetic distance sensors are fixed to the wall-climbing robot frame 1 and are in the same plane; the central sensor is taken as the coordinate origin (0,0,Z0), the spatial coordinates of the upper left sensor are (2*△X1,0,Z1), the spatial coordinates of the lower right sensor are (-△X2,△Y1+△Y2,Z2), the spatial coordinates of the lower left sensor are (2*△X1+△X2,△Y1+△Y2,Z3), and the spatial coordinates of the middle sensor are (△X1,△Y1,Z4); △X1,△Y1,△X2,△Y2 can be determined by the length and width of the robot frame and the installation position of the electromagnetic distance sensor. The five-point curvature measuring device is used to determine the curvature of the wall, and Z0, Z1, Z2, Z3, and Z4 are the measured values ​​of the five electromagnetic distance sensors. The middle electromagnetic distance sensor is used as the vertex of the imaginary surface, and it and the remaining four electromagnetic distance sensors can form four triangular faces. Similarly, the other electromagnetic distance sensors are used as vertices to form several triangular faces. When the wall-climbing robot equipped with the five-point curvature measuring device crawls on the curved wall, the five electromagnetic distance sensors collect the characteristic information of the surface in real time, and feed it back to the upper computer algorithm module to calculate the normal vector of the triangular face. The curvature of the current area is calculated by weighted calculation based on the change in the angle between the normal vectors of each two adjacent triangular faces.

[0069] The curvature range of the convex surface that the designed wall-climbing robot can safely crawl is H<5.2e-4, and the curvature range of the concave surface is H<2.2e-4; when it crawls on a surface with a certain curvature, the data collected by the five-point matrix curvature measurement device at a certain moment are (listed in the above order), (36, 52, 10), (196, 52, 10.8), (12, 252, 10.6), (220, 252, 10.2), (116, 152, 11.5), then the average curvature of the four triangular surface areas formed by the five points is approximately H=1.8e-4, and the Gaussian curvature K>0; at this time, the system determines that it passes through a convex surface with a curvature of 1.8e-4, which is within the curvature range of the safe crawling convex surface.

[0070] Similarly, when it crawls to a certain point on the surface, the data collected by the five-point matrix curvature measurement device at a certain moment are (12, 24, 3), (172, 24, 2.1), (-12, 224, 2.6), (196, 224, 3.8), and (92, 124, 28). The average curvature of the four triangular surface areas formed by the five points is approximately H = 5.4e-4, and the Gaussian curvature K>0. At this time, the system determines that it has passed through a convex surface with a curvature of H = 5.4e-4, which is not within the curvature range of the safe crawling convex surface.

[0071] Preferably, the device calculates the curvature of the current adsorption area in real time, which can be compared with a preset safe curvature range. When it approaches a dangerous value, an alarm is issued to alert the operator. In an emergency, the robot movement is forced to be controlled. The alarm can not only wake up the operator, but also does not require the staff to perform excessive processing. In normal operations, the device can achieve normal work, emergency avoidance and other operations by itself, which greatly reduces the labor intensity of the staff and improves the safety of the device.

[0072] Finally, it should be pointed out that the methods and devices described in detail above are only embodiments, and those skilled in the art can modify these embodiments in different ways without departing from the scope of the present invention.

Claims

1. A matrix curvature measuring device for a wall-climbing robot, characterized in that: include, A wall-climbing robot frame (1), wherein the wall-climbing robot frame (1) is used to carry an electromagnetic distance sensor (11); An adsorption wall surface (2), the adsorption wall surface (2) being arranged on the wall-climbing robot frame (1), and a magnetic adsorption module (21) being arranged on the adsorption wall surface (2); An algorithm module is arranged inside the electromagnetic distance sensor.

2. The matrix curvature measuring device for a wall-climbing robot according to claim 1, characterized in that: With the electromagnetic distance sensor as the vertex, four groups of electromagnetic distance sensors arranged in a trapezoidal shape are arranged in the outer circle, forming four different triangular grids, that is, forming four triangular faces.

3. The matrix curvature measuring device for a wall-climbing robot according to claim 2, characterized in that: According to the change of the angle between the normal vectors of adjacent triangular faces, the curvature of the area surrounded by the measuring device is obtained through processing by the algorithm module.

4. The matrix curvature measuring device for a wall-climbing robot according to claim 3, characterized in that: The algorithm module processing includes: For the i-th triangle, its two transformation vectors are expressed as and The normal vector of the triangle is calculated by formula (I) in, is the normal vector of the triangle, and are its two variable vectors respectively; For adjacent triangular faces i and i+1, the average curvature change H of the two adjacent triangular faces is calculated by formula (II): i ; Among them, H i is the average curvature change of the two adjacent triangles; is the normal vector of the triangle, is the normal vector of the adjacent triangle, is the common edge vector of two adjacent triangles; The five points of data collected at each moment can form four adjacent triangular faces. The normal vector of each triangular face can be obtained by formula (I), and the average curvature change can be calculated by formula (II). Then, for the four triangular face areas formed by the five points, their curvature, that is, the average curvature, can be calculated by formula (III). Among them, H is the average curvature of the four triangular areas formed by the five points; A s is the area of ​​the triangle formed by five points.

5. The matrix curvature measuring device for a wall-climbing robot according to claim 4, characterized in that: Based on the five-point matrix curvature measurement device, the four triangular faces at each moment share the same vertex, and the Gaussian curvature of the four triangular face areas formed by the five points can be calculated by formula (IV); Among them, K is the Gaussian curvature of the four triangular areas formed by five points; θ i is the arc value of the i-th triangle at the shared vertex, θ i It can be specifically calculated by formula (V); in, and are the two changing vectors of the i-th triangle face.

6. The matrix curvature measuring device for a wall-climbing robot according to claim 5, characterized in that: When the curvature of the area enclosed by the measuring device is within a safe range, the device does not issue an early warning.

7. The matrix curvature measuring device for a wall-climbing robot according to claim 6, characterized in that: When the curvature of the area enclosed by the measuring device exceeds the dangerous value, the system takes over the control of the device.

8. The matrix curvature measuring device for a wall-climbing robot according to claim 7, characterized in that: When the curvature of the area enclosed by the measuring device exceeds the safe range but does not exceed the dangerous value, the device will sound an alarm.

9. A working method of a matrix curvature measuring device for a wall-climbing robot, characterized in that: The matrix curvature measuring device for a wall-climbing robot comprises any one of claims 1 to 8, and further comprises: During the crawling process of the wall-climbing robot, as the adsorption surface environment changes, the device collects surface information and calculates the curvature; The device makes corresponding reaction actions according to the measured real-time surface curvature.

10. The working method of the matrix curvature measuring device for a wall-climbing robot according to claim 9, characterized in that: The device calculates the curvature of the current adsorption area in real time and compares it with the preset safe curvature range. When it approaches the dangerous value, an alarm is issued to alert the operator. In an emergency, the robot movement is forcibly controlled.

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