A robot automation platform for field intelligent maintenance of a water-cooled wall

Abstract

The application discloses a kind of water-cooled wall field intelligent maintenance robot automation platform, and robot body function module includes: laser vision automatic deviation correction module, for using laser vision technology realizes the path automatic deviation correction of robot body;Automatic lane changing module, for automatic lane changing function to realize the automatic conversion of robot operation path;Ultrasonic obstacle avoidance module, for realizing the obstacle avoidance function of robot body;Pose identification module, for pose identification function to calculate and display the real-time pose of robot body;360 image module, for real-time display robot body surrounding environment information;Detection module includes: electromagnetic ultrasonic thickness measurement module, for using electromagnetic ultrasonic technology realizes automatic measurement water-cooled wall pipe thickness;Defect detection module, for automatically detecting water-cooled wall surface defect and defect type, realize the remote automation detection technology of water-cooled wall, with many advantages such as high work efficiency, high detection precision, can reduce operation cost, shorten construction period etc.

Description

Technical Field

[0001] This invention relates to the field of water-cooled wall inspection technology, and more specifically to a robotic automation platform for intelligent on-site maintenance of water-cooled walls. Background Technology

[0002] Common types of water-cooled walls include membrane walls and bare tube walls. With the continuous development of large boilers, membrane water-cooled walls are becoming more widely used. Therefore, regular inspection and maintenance of water-cooled walls are of great significance for the safe operation of thermal power plants and the maintenance of national and enterprise economic development.

[0003] Currently, the inspection of water-cooled walls is mainly done manually. First, the boiler to be inspected is shut down. Then, the inspectors approach the water-cooled wall tubes by setting up scaffolding or a "lift" made of steel pipes. They visually inspect areas with severe wear or other safety hazards and use their onboard inspection equipment to check and eliminate them. This process is time-consuming, labor-intensive, inefficient, and the results lack reliability.

[0004] Therefore, how to provide a robotic automation platform for intelligent on-site maintenance of water-cooled walls is a problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0005] In view of this, the present invention provides a robotic automation platform for intelligent on-site maintenance of water-cooled walls. Based on methods such as structured light detection, machine image recognition, and remote non-destructive testing, the invention develops remote automated inspection technology for water-cooled walls, which has many advantages such as high work efficiency, high detection accuracy, reduced operating costs, and shortened construction period. It is an important means to solve the current problem of boiler tube rupture.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] A robotic automation platform for intelligent on-site maintenance of water-cooled walls includes: a control system, a robot body functional module, and a detection module;

[0008] The control system includes:

[0009] The control motherboard is used to connect to the operating handle, the host computer, the robot body functional modules and the detection module, and to receive and upload detection data, and to receive and issue operation commands.

[0010] The operating handle controls the movement of the robot body via the control motherboard, and controls the activation and deactivation of the detection module and the robot body's functional modules;

[0011] The host computer is used to receive and process the detection data sent by the control motherboard.

[0012] The robot body functional modules include:

[0013] The laser vision automatic correction module is used to automatically correct the path of the robot body using laser vision technology.

[0014] Automatic lane changing module, used for automatic lane changing function to realize automatic conversion of robot operation path;

[0015] The ultrasonic obstacle avoidance module is used to enable the robot body to avoid obstacles.

[0016] The pose recognition module is used for pose recognition functions to calculate and display the real-time pose of the robot body;

[0017] The 360-degree imaging module is used to display real-time information about the robot's surrounding environment.

[0018] The detection module includes:

[0019] Electromagnetic ultrasonic thickness measurement module, used to automatically measure the thickness of water-cooled wall tubes using electromagnetic ultrasonic technology;

[0020] The defect detection module is used to automatically detect surface defects and defect types in water-cooled walls.

[0021] Preferably, the laser vision automatic correction module includes:

[0022] Laser sensor for emitting line lasers into membrane water-cooled walls;

[0023] A camera used to capture laser images formed by line laser light illuminating a membrane water-cooled wall tube;

[0024] The embedded controller module is used to process the laser image, generate the path deviation, and send the path deviation to the control motherboard. The control panel controls the differential speed movement of the robot's left and right walking motors to achieve autonomous correction walking along the axis of the water-cooled wall tube.

[0025] Preferably, the specific implementation process of the embedded controller module is as follows:

[0026] The acquired laser images are sequentially processed by grayscale conversion, filtering and noise reduction, and edge enhancement.

[0027] The straight line segment corresponding to the laser line is extracted by combining Canny edge detection with Hough transform.

[0028] Calculate the intersection points between each straight line segment or the turning points of the laser line at the water-cooled wall tube, and define them as vertex feature points;

[0029] Vertex feature points are filtered, and path deviation is generated based on the coordinate information of the optimized vertex feature points in the image.

[0030] Preferably, the automatic lane changing module includes:

[0031] A counter is used to count the number of water-cooled wall tubes that have been swept.

[0032] Preferably, the automatic lane changing module is implemented as follows:

[0033] Enter the target water-cooled wall tube number;

[0034] The control board calculates the difference between the current line laser scan water-cooled wall tube number and the target water-cooled wall tube number, and controls the robot body to deflect toward the target water-cooled wall tube;

[0035] Each time the counter scans a water-cooled wall tube, the value is incremented by 1. It is then checked whether the difference between the tube numbers is greater than 1. If it is not greater than 1 and the counter value reaches 1, it means that the line laser has covered the next water-cooled wall tube. The main board automatically starts the path correction, and then the robot body moves along the axis of the target water-cooled wall tube, and the counter value is reset to zero.

[0036] When the difference between the tube numbers is greater than 1, and when the counter value reaches 1, that is, when the line laser scans the next water-cooled wall tube, the control motherboard controls the robot body to stop deflecting and walk in a straight line towards the target water-cooled wall tube; when the counter value reaches the difference between the tube numbers, that is, when the line laser scans the target water-cooled wall tube, the control motherboard automatically starts the path automatic correction, and then the robot body walks along the axis of the target water-cooled wall tube, and the counter value is cleared to zero.

[0037] Preferably, the defect detection module includes an illumination source, a CCD camera, and an image acquisition card;

[0038] Lighting source, used to provide a source of light;

[0039] A CCD camera is used to acquire images of the surface of water-cooled wall tubes under illumination.

[0040] An image acquisition card is used to transmit images of the surface of the water-cooled wall tubes to the control motherboard, and then upload them to the host computer via the control motherboard.

[0041] The host computer accurately identifies the defect type and records the defect location using a fuzzy neural network algorithm.

[0042] Preferably, the 360 ​​imaging module includes four cameras, which are respectively installed in the front, back, left and right directions of the robot body.

[0043] Preferably, the control motherboard is used to synthesize four images captured by four cameras to obtain a 360-degree image.

[0044] As can be seen from the above technical solution, compared with the prior art, the present invention discloses a robotic automation platform for intelligent on-site maintenance of water-cooled walls, which has the following advantages:

[0045] 1) Develop an automatic deviation correction system suitable for water-cooled wall surfaces to enable the intelligent maintenance robot to move quickly and accurately and change lanes automatically; equip it with a non-destructive thickness measurement system and a vision inspection system to enable automatic identification of surface defects of water-cooled wall tubes and rapid measurement of water-cooled wall thickness.

[0046] 2) The automatic correction technology applicable to water-cooled wall surfaces combines laser vision technology to identify the straight path of the water-cooled wall tube array through laser scanning; the tracking control system calculates in real time to guide the differential motion adjustment of the robot; based on this, it can ensure that the robot body travels along the axis of the water-cooled wall tube, thereby ensuring the accuracy of the robot's motion trajectory and providing a foundation for the automatic thickness measurement function and defect detection function to play their role.

[0047] 3) The automatic defect detection technology for water-cooled walls utilizes a high-definition inspection camera module to capture real-time images of the water-cooled wall tube arrays, providing raw data for rapid defect identification. Through a visual recognition module and the high-definition inspection camera module, it rapidly and automatically detects deformation of the water-cooled walls remotely and efficiently, automatically identifying and locating localized surface cracks, dents, deformations, and welding defects. Furthermore, this technology can inspect water-cooled wall areas inaccessible to workers, significantly expanding the scope of defect detection, saving manpower, improving inspection efficiency, and reducing safety hazards associated with water-cooled walls.

[0048] 4) The automatic lane-changing technology of the water-cooled wall climbing robot enables the intelligent water-cooled wall robot to automatically transfer to the starting point of the next track after completing the inspection of the current track. This will greatly shorten the time required for manual adjustment of the robot track and ensure full coverage of the area to be inspected, thereby improving maintenance efficiency and shortening the maintenance cycle. It has extremely high economic value and promotion value. Attached Figure Description

[0049] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0050] Figure 1 This invention provides a schematic diagram of a robotic automated platform structure for on-site intelligent maintenance of water-cooled walls.

[0051] Figure 2 This is a schematic diagram of the robot body provided by the present invention.

[0052] Figure 3 This is a schematic diagram of the line laser and vertex feature points provided by the present invention.

[0053] Figure 4 The automatic lane changing flowchart provided for this invention.

[0054] Figure 5 The data flow diagram of the 360 ​​imaging module provided by this invention.

[0055] Figure 6 This is a schematic diagram of the control motherboard provided by the present invention.

[0056] Figure 7 This is a schematic diagram of the host computer functions provided by the present invention.

[0057] The components include: 1. Laser vision automatic correction module; 2. 360° imaging module; 3. Electromagnetic ultrasonic thickness measurement module; 4. Defect detection module; and 5. Linear slide. Detailed Implementation

[0058] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0059] This invention discloses a robotic automation platform for intelligent on-site maintenance of water-cooled walls, such as... Figure 1 As shown, it includes:

[0060] Control system, robot body functional modules, and detection modules;

[0061] The control system includes:

[0062] The control motherboard is used to connect with the operating handle, host computer, robot body functional modules and detection modules to receive and upload detection data and receive and issue operation commands.

[0063] The control handle controls the movement of the robot body through the control motherboard, and controls the opening and closing of the detection module and the robot body's functional modules;

[0064] The host computer is used to receive and process the detection data sent by the control motherboard; the detection data consists of data collected by the robot's main functional modules and detection modules.

[0065] The robot's functional modules include:

[0066] Laser vision automatic correction module 1 is used to achieve automatic path correction of the robot body using laser vision technology;

[0067] Automatic lane changing module, used for automatic lane changing function to realize automatic conversion of robot operation path;

[0068] The ultrasonic obstacle avoidance module is used to enable the robot body to avoid obstacles.

[0069] The pose recognition module is used for pose recognition functions to calculate and display the real-time pose of the robot body;

[0070] 360-degree imaging module 2 is used to display real-time environmental information around the robot.

[0071] The detection module includes:

[0072] Electromagnetic ultrasonic thickness measurement module 3 is used to automatically measure the thickness of water-cooled wall tubes using electromagnetic ultrasonic technology and upload the data to the host computer.

[0073] Defect detection module 4 is used to automatically detect surface defects and defect types of water-cooled walls and upload them to the host computer.

[0074] The electromagnetic ultrasonic thickness measurement module 3, the defect detection module 4, and the robot body functional modules are all installed on the robot body. They inspect the water-cooled wall as the robot moves along its surface. The robot body communicates remotely with the control system. Figure 2 As shown.

[0075] This invention employs permanent magnet adsorption. The magnetic adsorption wall-climbing robot mechanism is relatively simple, highly reliable, and its adsorption force is not reduced by uneven wall surfaces; in fact, its adsorption force is far greater than that of vacuum negative pressure adsorption. Permanent magnet adsorption and electromagnetic adsorption have distinct characteristics. Electromagnetic adsorption is easier to control, while permanent magnet adsorption has a strong load-bearing capacity. However, in the event of a power outage during operation, electromagnetic adsorption wall-climbing robots may fall off the wall, posing a danger, while permanent magnet adsorption wall-climbing robots will not be affected.

[0076] The robot is driven by a motor, which is simple and flexible to control, has a strong load capacity, and can quickly achieve forward and reverse rotation. Using two motors rotating at the same speed in either direction allows for forward or backward movement. When the motors on either side of the robot rotate at different speeds, steering is achieved. Figure 2 As shown.

[0077] Specifically, the laser vision automatic correction module 1 includes:

[0078] Laser sensor for emitting line lasers into membrane water-cooled walls;

[0079] A camera used to capture laser images formed by line laser light illuminating a membrane water-cooled wall tube;

[0080] The embedded controller module is used to process the laser image, generate the path deviation, and send the path deviation to the control motherboard. The control panel controls the differential speed movement of the robot's left and right walking motors to achieve autonomous correction walking along the axis of the water-cooled wall tube.

[0081] The specific implementation process of the embedded controller module is as follows:

[0082] The acquired laser images are sequentially processed by grayscale conversion, filtering and noise reduction, and edge enhancement.

[0083] The straight line segment corresponding to the laser line is extracted by combining Canny edge detection with Hough transform.

[0084] Calculate the intersection points between each straight line segment or the turning points of the laser line at the water-cooled wall tube, and define them as vertex feature points, such as... Figure 3 As shown;

[0085] Vertex feature points are filtered, and based on the coordinate information of the optimized vertex feature points in the image, a path deviation is generated to ensure that the wall-climbing robot moves along the axis of the water-cooled wall pipe.

[0086] The laser vision automatic correction module 1 combines laser vision technology to identify the straight path of the water-cooled wall tube array through laser scanning and recognition, and guides the robot's differential motion adjustment. This invention can identify special structural feature points of the water-cooled wall and guide the robot's walking motor to move at a differential speed, ensuring that the robot can autonomously correct its course along the axis of the water-cooled wall tube.

[0087] In this embodiment, the specific process of the robot body automatically changing lanes is as follows: After the robot body completes the defect detection and thickness measurement operation along a certain water-cooled wall tube, the wall-climbing robot is deflected to the left or right so that the line laser covers the water-cooled wall tube corresponding to the next operation path. Then, the path correction function is activated, so that the wall-climbing robot can slowly move to the next detection path and run along the water-cooled wall axis.

[0088] The robot's automatic lane-changing function requires a counter, which is mounted directly in front of the laser sensor, such as... Figure 4 As shown, the specific control logic is as follows:

[0089] Step 1: Number the water-cooled wall tubes in the area to be inspected;

[0090] Step 2: Before automatic lane changing is required, the operator enters the pipe number of the water-cooled wall pipe that the laser needs to scan in the centerline of the next detection trajectory;

[0091] Step 3: Click the "Change Lane" button on the control handle to control the main board to calculate the difference between the current line laser scan water-cooled wall tube number and the target water-cooled wall tube number, and then control the robot body to deflect towards the target water-cooled wall tube.

[0092] Step 4: Each time the counter scans a water-cooled wall tube, the value is incremented by 1. It is then determined whether the difference between the tube numbers is greater than 1. If it is not greater than 1 and the counter value reaches 1, it means that the linear laser emitted by the laser sensor has covered the next water-cooled wall tube. The main board is then controlled to automatically start trajectory correction. The robot then moves along the axis of the target water-cooled wall tube, and the counter value is reset to zero.

[0093] Step 5: When the difference between tube numbers is greater than 1, when the counter value reaches 1, that is, when the line laser scans the next water-cooled wall tube, the main control board controls the carriage to stop deflecting and move in a straight line towards the target water-cooled wall tube.

[0094] Step Six: When the counter value reaches the difference between the tube numbers, i.e., when the line laser scans the target water-cooled wall tube, the main board automatically activates the trajectory correction function and then the counter value is reset to zero. This enables the wall-climbing robot to automatically move to the next detection trajectory.

[0095] In this embodiment, the defect detection module 4 can quickly and automatically detect the deformation of the water-cooled wall remotely through visual recognition and high-definition detection cameras, and automatically identify and locate local surface cracks, damage, deformation, welding defects, etc. A defect model database based on the intelligent defect recognition system and the water-cooled wall is established, which is expanded using computer learning to generate simulated samples and enrich the defect database; and through neural network training, the defect recognition capability is improved and the false positive rate is reduced.

[0096] The defect detection module includes an illumination source, a CCD camera, and an image acquisition card;

[0097] Lighting source, used to provide a source of light;

[0098] A CCD camera is used to acquire images of the surface of water-cooled wall tubes under illumination.

[0099] The image acquisition card is used to transmit images of the water-cooled wall tube surface to the control motherboard, and then upload them to the host computer via the control motherboard.

[0100] The host computer processes the brightness, color, and other parameters of the water-cooled wall tube surface image and converts them into digital signals; accurately reflecting the actual situation of the water-cooled wall surface; by developing a fuzzy neural network algorithm for image recognition and repeatedly training the algorithm with typical defect images in the database, the algorithm can accurately identify defect types and record defect locations.

[0101] (1) Selection of light source: The illumination source is an important component of the machine vision system. The light source should have high brightness, adjustable brightness, good uniformity and high stability to suppress the significant impact of various ambient lights on image quality, which may lead to malfunctions or misjudgments in the machine vision system. This system uses LED lights as the CCD light source.

[0102] (2) Selection of CCD Camera: CCD (charge coupled device) is a semiconductor device that can convert optical images into digital signals. The image of the subject is focused onto the CCD chip through the lens. The CCD accumulates a corresponding proportion of charge according to the intensity of light. Under the control of video timing, the charge accumulated by each pixel is moved outward point by point. After filtering and amplification, a video signal is formed and output. It has the advantages of high sensitivity, strong light resistance, low distortion, small size, long life and vibration resistance.

[0103] This invention can detect obvious defects such as local cracks, impact-damaged and deformed welds, and high-temperature corrosion; the defect detection algorithm can achieve rapid identification.

[0104] In this embodiment, the electromagnetic ultrasonic thickness measurement module 3 is mounted on the front of the robot body via a straight slide table 5. It is used to automatically measure the thickness of the water-cooled wall tube using electromagnetic ultrasonic technology, which utilizes electromagnetic coupling to excite and receive ultrasonic waves.

[0105] In this embodiment, as Figure 5 As shown, 1080P, wide-angle high-definition cameras are configured at the front, rear, left, and right positions of the vehicle body to build a 360-degree imaging device. The purpose of this device is to monitor the surrounding environment during the inspection process of the intelligent robot. The four high-definition cameras capture environmental information images from the front, rear, left, and right directions of the robot body and upload them to the control motherboard. The control motherboard combines the four images and uploads them to the host computer to realize remote imaging of the working surface and assist in remote control or path planning.

[0106] Among them, the ultrasonic obstacle avoidance module is used to realize the obstacle avoidance function of the robot body. If the distance is too close, the host computer will issue an alarm or automatically stop the command to avoid collision; the pose recognition module is used for pose recognition function to calculate and display the real-time pose of the robot body. The above two modules are implemented using existing technologies, and will not be described in detail here.

[0107] In this embodiment, as Figure 6As shown, the control motherboard uses an embedded industrial control module as the main control unit. It adopts a hardware structure based on the EtherCAT Ethernet fieldbus system or other similar industrial control platforms. Its function is to realize the motion control of the intelligent robot body and the control of other functional modules, such as the opening and closing of functional modules, receiving and uploading thickness measurement data to the host computer, and executing robot walking correction algorithms.

[0108] The control handle is connected to the control motherboard, which can control the movement of the intelligent robot, including setting the crawling speed, controlling the robot to move forward, backward and turn. In addition, it can also control the start and stop of the thickness measurement and defect detection modules, the start and stop of the robot's walking correction and automatic lane changing functions, etc. All detection data (thickness, defects, images, path deviation, etc.) are uploaded to the host computer by the control motherboard.

[0109] like Figure 7 As shown, the host computer is connected to the control motherboard and is equipped with intelligent robot data analysis software. Its main functions are:

[0110] Equipped with a data analysis system, it receives water-cooled wall tube thickness data and displays, stores, and analyzes the data, showing the analysis results in the form of line charts, pie charts, etc., and can export the data in Excel format;

[0111] Receive images of the surface of water-cooled wall tubes, process the images, identify whether there are defects on the surface, the type and location of the defects, and output, display and save the defect data;

[0112] Displays a 360-degree real-time image of the robot's surroundings;

[0113] Integrate information from various robot sensors, such as obstacle distance information measured by ultrasonic obstacle avoidance sensors;

[0114] Status alerts and displays can record and assess operational status and historical information;

[0115] It displays real-time information on robot collision, speed, positioning posture, equipment, task status, communication, synchronization, and other system and robot equipment status.

[0116] The main functions of the data analysis system include water-cooled wall inspection data analysis and comparison, graphical display, historical task query, and database management. Specific functions are as follows:

[0117] 1) Multidimensional Analysis Platform: Supports configurable chart and dashboard creation; supports various chart types including bar charts, pie charts, line charts, and radar charts; historical task viewing: supports visually displaying task results and exporting reports. It offers refined granularity, displaying data comparisons at 25mm intervals for each water-cooled wall height.

[0118] 2) Thickness measurement data export: Supports exporting water-cooled wall tube thickness data as an Excel file.

[0119] 3) Includes portal / dashboard functionality:

[0120] It can provide statistical comparisons and displays of the number of inspections, inspection duration, and defect information for each boiler;

[0121] The system displays the inspection duration, defect classification and percentage, and detailed defect information for the most recent inspection task.

[0122] The statistical curves for each test thickness of the selected water-cooled wall tube are displayed.

[0123] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the apparatus disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the description is relatively simple; relevant parts can be referred to in the method section.

[0124] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A robotic automation platform for intelligent on-site maintenance of water-cooled walls, characterized in that, include: Control system, robot body functional modules, and detection modules; The control system includes: The control motherboard is used to connect to the operating handle, the host computer, the robot body functional modules and the detection module, and to receive and upload detection data, and to receive and issue operation commands. The operating handle controls the movement of the robot body via the control motherboard, and controls the activation and deactivation of the detection module and the robot body's functional modules; The host computer is used to receive and process the detection data sent by the control motherboard. The robot body functional modules include: The laser vision automatic correction module is used to automatically correct the path of the robot body using laser vision technology. Automatic lane changing module, used for automatic lane changing function to realize automatic conversion of robot operation path; The ultrasonic obstacle avoidance module is used to enable the robot body to avoid obstacles. The pose recognition module is used for pose recognition functions to calculate and display the real-time pose of the robot body; The 360-degree imaging module is used to display real-time information about the robot's surrounding environment. The detection module includes: Electromagnetic ultrasonic thickness measurement module, used to automatically measure the thickness of water-cooled wall tubes using electromagnetic ultrasonic technology; The defect detection module is used to automatically detect surface defects and defect types in water-cooled walls. The laser vision automatic correction module includes: Laser sensor for emitting line lasers into membrane water-cooled walls; A camera used to capture laser images formed by line laser light illuminating a membrane water-cooled wall tube; The embedded controller module is used to process the laser image, generate the path deviation, and send the path deviation to the control motherboard. The control panel controls the differential speed movement of the robot's left and right walking motors to achieve autonomous correction walking along the axis of the water-cooled wall tube. The specific implementation process of the embedded controller module is as follows: The acquired laser images are sequentially processed by grayscale conversion, filtering and noise reduction, and edge enhancement. The straight line segment corresponding to the laser line is extracted by combining Canny edge detection with Hough transform. Calculate the intersection points between each straight line segment or the turning points of the laser line at the water-cooled wall tube, and define them as vertex feature points; Vertex feature points are filtered, and path deviation is generated based on the coordinate information of the optimized vertex feature points in the image. The automatic lane changing module includes: A counter is used to count the number of water-cooled wall tubes that have been swept. The specific implementation process of the automatic lane changing module is as follows: Enter the target water-cooled wall tube number; The control board calculates the difference between the current line laser scan water-cooled wall tube number and the target water-cooled wall tube number, and controls the robot body to deflect toward the target water-cooled wall tube; Each time the counter scans a water-cooled wall tube, the value is incremented by 1. It is then checked whether the difference between the tube numbers is greater than 1. If it is not greater than 1 and the counter value reaches 1, it means that the line laser has covered the next water-cooled wall tube. The main board automatically starts the path correction, and then the robot body moves along the axis of the target water-cooled wall tube, and the counter value is reset to zero. When the difference between the tube numbers is greater than 1, and when the counter value reaches 1, that is, when the line laser scans the next water-cooled wall tube, the control motherboard controls the robot body to stop deflecting and walk in a straight line towards the target water-cooled wall tube; when the counter value reaches the difference between the tube numbers, that is, when the line laser scans the target water-cooled wall tube, the control motherboard automatically starts the path automatic correction, and then the robot body walks along the axis of the target water-cooled wall tube, and the counter value is cleared to zero.

2. The robotic automation platform for intelligent on-site maintenance of water-cooled walls according to claim 1, characterized in that, The defect detection module includes an illumination source, a CCD camera, and an image acquisition card; Lighting source, used to provide a source of light; A CCD camera is used to acquire images of the surface of water-cooled wall tubes under illumination. An image acquisition card is used to transmit images of the surface of the water-cooled wall tubes to the control motherboard, and then upload them to the host computer via the control motherboard. The host computer accurately identifies the defect type and records the defect location using a fuzzy neural network algorithm.

3. The robotic automation platform for intelligent on-site maintenance of water-cooled walls according to claim 1, characterized in that, The 360-degree imaging module includes four cameras, which are installed in the front, back, left, and right directions of the robot body.

4. The robotic automation platform for intelligent on-site maintenance of water-cooled walls according to claim 3, characterized in that, The control motherboard is used to synthesize four images captured by four cameras to obtain a 360-degree image.

Images