Nuclear power plant aerial inspection system, method, robot and storage medium

Abstract

The present invention relates to the technical field of special tools for nuclear power plants, and in particular to a nuclear power plant aerial inspection system, method, robot and storage medium, including a controller, an image acquisition device, a mechanical obstacle avoidance device and a motion execution device; the image acquisition device, the mechanical obstacle avoidance device and the motion execution device are all connected to the controller; during the operation of the nuclear power plant aerial inspection robot, the aerial scene image sent by the image acquisition device is received; an initial driving route is generated according to the aerial scene image, and the nuclear power plant aerial inspection robot is controlled to travel according to the initial driving route through the motion execution device; an obstacle collision signal sent by the mechanical obstacle avoidance device is received in real time; a target driving route of the nuclear power plant aerial inspection robot is determined according to the obstacle collision signal and the initial driving route; and the nuclear power plant aerial inspection robot is controlled to travel according to the target driving route through the motion execution device. The present invention improves the safety of the nuclear power plant aerial inspection robot's inspection process.

Description

Technical Field

[0001] The present invention relates to the technical field of special tools for nuclear power plants, and in particular to a nuclear power plant aerial inspection system, method, robot and storage medium. Background Art

[0002] With the decline of traditional energy sources such as oil and coal, the world is actively developing new energy sources. Nuclear energy is a clean energy with low power generation cost, so it is highly valued and widely used. However, the widespread use of nuclear energy brings about nuclear safety issues, so it is important to protect the safety of nuclear power plants.

[0003] In the prior art, manual patrol and scanning are generally carried out by nuclear power plant technicians. However, since there are many high-risk areas in nuclear power plants, the radiation brought by these high-risk areas will bring safety risks to the human body, which in turn leads to low safety of patrol and scanning, and low efficiency of manual patrol and scanning. Summary of the invention

[0004] The embodiments of the present invention provide a nuclear power plant aerial inspection system, method, robot and storage medium to solve the problem of low efficiency and low safety of manual patrol and scanning.

[0005] A nuclear power plant aerial inspection system comprises a controller, an image acquisition device, a mechanical obstacle avoidance device and a motion execution device; the image acquisition device, the mechanical obstacle avoidance device and the motion execution device are all connected to the controller;

[0006] The controller is used to:

[0007] During the operation of the nuclear power plant aerial inspection robot, receiving the aerial scene image sent by the image acquisition device;

[0008] Generate an initial driving route according to the aerial scene image, and send the initial driving route to the motion execution device, so that the motion execution device controls the nuclear power plant aerial inspection robot to travel according to the initial driving route;

[0009] When the nuclear power plant aerial inspection robot is driving according to the initial driving route, receiving in real time an obstacle collision signal sent by the mechanical obstacle avoidance device;

[0010] Determining a target driving route of the nuclear power plant aerial inspection robot according to the obstacle collision signal and the initial driving route;

[0011] The target driving route is sent to the motion execution device, so that the motion execution device controls the nuclear power plant aerial inspection robot to travel according to the target driving route.

[0012] A method for aerial inspection of a nuclear power plant, comprising:

[0013] During the operation of the nuclear power plant aerial inspection robot, receiving an aerial scene image sent by an image acquisition device in the nuclear power plant aerial inspection robot;

[0014] Generate an initial driving route according to the aerial scene image, and send the initial driving route to a motion execution device in the nuclear power plant aerial inspection robot, so that the motion execution device controls the nuclear power plant aerial inspection robot to travel according to the initial driving route;

[0015] When the nuclear power plant aerial inspection robot is driving according to the initial driving route, receiving in real time an obstacle collision signal sent by a mechanical obstacle avoidance device in the nuclear power plant aerial inspection robot;

[0016] Determining a target driving route of the nuclear power plant aerial inspection robot according to the obstacle collision signal and the initial driving route;

[0017] The target driving route is sent to the motion execution device, so that the motion execution device controls the nuclear power plant aerial inspection robot to travel according to the target driving route.

[0018] A computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the above-mentioned nuclear power plant aerial inspection method is implemented.

[0019] The above-mentioned nuclear power plant aerial inspection system, method, robot and storage medium can avoid most obstacles from colliding with the nuclear power plant aerial inspection robot through the image acquisition device, and further avoid the nuclear power plant aerial inspection robot from colliding with obstacles not captured by the image acquisition device through the mechanical obstacle avoidance device, thereby improving the safety of the nuclear power plant aerial inspection robot's inspection process. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments of the present invention will be briefly introduced below. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative labor.

[0021] Figure 1 is a schematic diagram of a nuclear power plant aerial inspection system according to an embodiment of the present invention;

[0022] Figure 2 is a flow chart of the steps executed by the controller of the nuclear power plant aerial inspection system in one embodiment of the present invention;

[0023] Figure 3 is a schematic diagram of obstacle projection in one embodiment of the present invention. DETAILED DESCRIPTION

[0024] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0025] In one embodiment, if Figure 1 As shown, a nuclear power plant aerial inspection system is provided, including a controller, an image acquisition device, a mechanical obstacle avoidance device and a motion execution device; the image acquisition device, the mechanical obstacle avoidance device and the motion execution device are all connected to the controller;

[0026] It can be understood that the controller is used to receive or send information, such as receiving information sent by an image acquisition device and a mechanical obstacle avoidance device, sending the driving route to a motion execution device, etc.; the controller can be a server, and the controller includes a processor, a memory, a network interface, and a database connected via a system bus. Among them, the processor of the controller is used to provide computing and control capabilities. The memory of the controller includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of the operating system and computer program in the non-volatile storage medium. The database of the controller is used to store data such as scene images and driving routes. The network interface of the controller is used to communicate with an external terminal through a network connection.

[0027] Furthermore, the image acquisition device may be a camera, which is used to acquire scene images in front of and / or to the side of the nuclear power plant aerial inspection robot, so that the controller can determine whether there are obstacles based on the acquired scene images. The mechanical obstacle avoidance device includes a collision ring (or a collision detection device of other shapes) and a pressure sensor array; wherein the collision ring is used to detect the collision information received by the nuclear power plant aerial inspection robot when a collision occurs during operation; the pressure sensor array is used to measure the collision information transmitted by the collision ring, and then determine the collision direction and collision force based on the collision information. The motion execution device includes a motor, a motor driver and a propeller; wherein the motor driver is used to drive the motor; the motor is used to drive the propeller, so that the propeller can provide lift and torque for the nuclear power plant aerial inspection robot, so that the nuclear power plant aerial inspection robot can travel according to the target driving route.

[0028] like Figure 2As shown, the controller is used to:

[0029] S10: During the operation of the nuclear power plant aerial inspection robot, receiving the aerial scene image sent by the image acquisition device.

[0030] It can be understood that the aerial scene image is the scene image in front of and / or to the side of the aerial inspection robot of the nuclear power plant, which is collected by the image acquisition device during the operation of the aerial inspection robot of the nuclear power plant. The scene image may contain obstacles (such as trees, nuclear power plant equipment, other inspection robots, etc.). Furthermore, the image acquisition device includes a front-view camera and a side-view camera. Among them, the front-view camera is to collect the aerial scene image in front of the aerial inspection robot of the nuclear power plant (such as the front, left front, right front, etc.); the side-view camera is to collect the aerial scene image on the left or right side of the aerial inspection robot of the nuclear power plant.

[0031] The following regulations are made here: Taking the running direction of the nuclear power plant aerial inspection robot during operation as an example, the direction of operation is located to the left of the nuclear power plant aerial inspection robot, which is the left side defined above; the direction of operation is located to the right of the nuclear power plant aerial inspection robot, which is the right side defined above; the direction of operation is located directly in front of the nuclear power plant aerial inspection robot, which is the directly front defined above; the direction of operation is located to the left front of the nuclear power plant aerial inspection robot, which is the left front defined above; the direction of operation is located to the right front of the nuclear power plant aerial inspection robot, which is the right front defined above.

[0032] S20: Generate an initial driving route according to the aerial scene image, and send the initial driving route to the motion execution device, so that the motion execution device controls the nuclear power plant aerial inspection robot to travel according to the initial driving route.

[0033] It can be understood that the initial driving route is determined based on the obstacle position information in the aerial scene image, that is, the initial driving route will avoid the obstacles contained in the scene image, so that the nuclear power plant aerial inspection robot can avoid obstacles when driving according to the initial driving route, thereby improving the safety of the nuclear power plant aerial inspection robot's inspection process.

[0034] Specifically, after receiving the aerial scene image sent by the image acquisition device, it is determined whether the aerial scene image contains obstacles, so that when the aerial scene image contains obstacles, an initial driving route that can avoid the obstacles contained in the aerial scene image is generated, and then the nuclear power plant aerial inspection robot is controlled to travel according to the initial driving route by running the execution device; when the aerial scene image does not contain obstacles, the nuclear power plant aerial inspection robot can be controlled to travel according to the current driving route (the current driving route can be the driving route initially set by the nuclear power plant operation and maintenance personnel).

[0035] S30: When the nuclear power plant aerial inspection robot is driving according to the initial driving route, an obstacle collision signal sent by the mechanical obstacle avoidance device is received in real time.

[0036] It can be understood that the obstacle collision signal is a signal returned by the mechanical obstacle avoidance device, and the obstacle collision signal is used to indicate whether the nuclear power plant aerial inspection robot has collided while driving along the initial driving route. Although the initial driving route has been formulated according to the aerial scene image in the above steps, there may be some obstacles that have not been captured by the image acquisition device, such as thin wires, glass with high transparency, etc.; therefore, the nuclear power plant aerial inspection robot may touch the obstacles mentioned in the above examples during driving, so it is necessary to receive the obstacle collision signal sent by the mechanical obstacle avoidance device in real time, so that when the obstacle collision signal indicates that the nuclear power plant aerial inspection robot touches an obstacle during driving according to the initial driving route, the initial driving route needs to be adjusted, so that the nuclear power plant aerial inspection robot will not continue to collide, thereby further improving the safety of the nuclear power plant aerial inspection robot's inspection.

[0037] S40: Determine the target driving route of the nuclear power plant aerial inspection robot according to the obstacle collision signal and the initial driving route.

[0038] It can be understood that in the above description, it is pointed out that when the obstacle collision signal indicates that the nuclear power plant aerial inspection robot touches an obstacle during the driving process according to the initial driving route, the initial driving route needs to be adjusted so that the nuclear power plant aerial inspection robot will not continue to collide, and then the initial driving route can be adjusted according to the collision information (such as collision force and collision direction) returned by the mechanical obstacle avoidance device to obtain the target driving route; when the obstacle collision signal indicates that the nuclear power plant aerial inspection robot does not touch an obstacle during the driving process according to the initial driving route, the initial driving route does not need to be adjusted, and the initial driving route can be directly used as the target driving route.

[0039] S50: Sending the target driving route to the motion execution device, so that the motion execution device controls the nuclear power plant aerial inspection robot to travel according to the target driving route.

[0040] Specifically, after determining the target driving route of the nuclear power plant aerial inspection robot based on the obstacle collision signal and the initial driving route, the target driving route is sent to the motion execution device so that the motion execution device controls the nuclear power plant aerial inspection robot to travel according to the target driving route.

[0041] In this embodiment, the image acquisition device can prevent most obstacles from colliding with the nuclear power plant aerial inspection robot, and the mechanical obstacle avoidance device can further prevent the nuclear power plant aerial inspection robot from colliding with obstacles not captured by the image acquisition device, thereby improving the safety of the nuclear power plant aerial inspection robot's inspection process.

[0042] In one embodiment, the image acquisition device includes a left camera and a right camera arranged on opposite sides of the nuclear power plant aerial inspection robot; the aerial scene image includes a left scene image captured by the left camera and a right scene image captured by the right camera; one left scene image is associated with one right scene image.

[0043] It can be understood that both the left camera and the right camera are used to collect aerial scene images in front of the aerial inspection robot of the nuclear power plant. Taking the overall aerial inspection robot of the nuclear power plant as an example, the left camera defined here is the camera on the left side of the central axis of the body of the aerial inspection robot of the nuclear power plant, and located at the front of the aerial inspection robot of the nuclear power plant; the right camera is the camera on the right side of the central axis of the body of the aerial inspection robot of the nuclear power plant, and located at the front of the aerial inspection robot of the nuclear power plant. For the same obstacle, both the left camera and the right camera may collect aerial scene images containing the obstacle, so the aerial scene image collected by the left camera at the same time is recorded as the left scene image, and the aerial scene image collected by the right camera is recorded as the right scene image.

[0044] The generating an initial driving route according to the aerial scene image comprises:

[0045] Image grayscale processing is performed on the left scene image and the right scene image associated therewith to obtain a left grayscale image and a right grayscale image.

[0046] It can be understood that after image grayscale processing, the left scene image or the right scene image can better distinguish whether it contains obstacles. Since the grayscale statistical results of images containing obstacle features are obviously different, after introducing image grayscale processing, it can be more quickly determined whether there are obstacles in the left scene image or the right scene image.

[0047] Feature recognition is performed on the left grayscale image and the right grayscale image by a window sliding method to determine whether the left grayscale image and the right grayscale image contain obstacles.

[0048] When the left grayscale image and the right grayscale image contain obstacles, a left obstacle region in the left grayscale image and a right obstacle region in the right grayscale image are determined.

[0049] It can be understood that the window sliding method in this embodiment refers to determining the obstacle area of ​​the left grayscale image or the right grayscale image by sliding pixels in the left grayscale image or the right grayscale image; the pixel sliding here can be sliding in a single pixel manner, or in a manner of sliding a sliding window composed of several pixels. The left obstacle area is the pixel area containing obstacle features in the left grayscale image; the right obstacle area is the pixel area containing obstacle features in the right grayscale image.

[0050] Specifically, after the left scene image and the right scene image associated therewith are subjected to image grayscale processing to obtain the left grayscale image and the right grayscale image, feature recognition is performed on the left grayscale image and the right grayscale image by a window sliding method. For example, a pixel window that does not contain obstacle features is set, and then the pixel window is slid on the left grayscale image or the right grayscale image, and features of the same size of the image window of the left grayscale image or the right grayscale image are compared with the features of the pixel window (grayscale values ​​are compared). If the grayscale value of the image window of the left grayscale image or the right grayscale image is the same as that of the pixel window, The difference between the grayscale values ​​of is greater than a set threshold value (the threshold value can be set to 200, etc.), and then determine that the image window of the left grayscale image or the right grayscale image contains obstacle features. In this way, after completing the feature recognition of all pixels of the left grayscale image or the right grayscale image, it can be determined whether the left grayscale image and the right grayscale image contain obstacles. Then, when the left grayscale image and the right grayscale image contain obstacles, the pixel area containing obstacle features in the left grayscale image can be recorded as the left obstacle area, and the pixel area containing obstacle features in the right grayscale image can be recorded as the right obstacle area. It can be understood that the above description points out that for the same obstacle, since the obstacle is located in front of the nuclear power plant aerial inspection robot (directly in front, left front or right front), the obstacle features in the left scene image and the right scene image taken at the same time belong to the same obstacle. In this way, according to the different positions of the obstacles in the left scene image and the right scene image, the distance and direction between the obstacle and the nuclear power plant aerial inspection robot can be more accurately determined.

[0051] A left center point of the left obstacle area and a right center point of the right obstacle area are determined.

[0052] It can be understood that the left center point is the center position of the left obstacle area (for example, assuming that the left obstacle area is a circular area, the center of the left obstacle area is the left center point); the right center point is the center position of the right obstacle area. Exemplarily, after determining the left obstacle area and the right obstacle area, the left grayscale image and the right grayscale image can be binarized, and then the left obstacle area can be distinguished from other areas in the binarized left grayscale image, and then the left center point of the left obstacle area can be quickly found. Similarly, the right obstacle area can be distinguished from other areas in the binarized right grayscale image, and then the right center point of the right obstacle area can be quickly found, and the obstacle features of the left center point can be compared with the obstacle features of the right center point, so that it can be better determined that the found left center point and right center point are correct.

[0053] The current position point of the nuclear power plant aerial inspection robot is obtained, and the obstacle position point of the obstacle is determined according to the left center point, the right center point and the current position point.

[0054] Specifically, after determining the left center point of the left obstacle area and the right center point of the right obstacle area, the current position point of the nuclear power plant aerial inspection robot is obtained, and then the distance between the obstacle and the nuclear power plant aerial inspection robot is determined based on the left center point and the right center point, and then the obstacle position information of the obstacle, that is, the obstacle position point, is determined based on the current position point of the nuclear power plant aerial inspection robot and the distance.

[0055] For example, Figure 3 The figure shows a schematic diagram of obstacle projection. After the obstacle T is photographed by the left camera C1 and the right camera C2, the obstacle T photographed by the left camera C1 is mapped to the left image plane D1, and the obstacle T photographed by the right camera C2 is mapped to the right image plane D2; the distance between the center of the left camera and the center of the right camera is the camera baseline length L1.

[0056] When the left center point of the left obstacle area is determined, the image translation distance L2 of the obstacle T photographed by the left camera C1 on the left image plane D1 can be determined. The image translation distance L2 is the distance between the vertical line corresponding to the left center point and the left boundary line of the left image plane D1 (the starting point of the left boundary line of the left image plane D1 is parallel to the left center point and is on the upper left side of the left image plane D1, and then a straight line parallel to the vertical line corresponding to the left center point is drawn from the starting point, which is the left boundary line of the left image plane D1). When the right center point of the right obstacle area is determined, the image translation distance L3 of the obstacle T photographed by the right camera C2 on the right image plane D2 can be determined. The image translation distance L3 is the distance between the vertical line corresponding to the right center point and the left boundary line of the right image plane D1 (the starting point of the left boundary line of the right image plane D1 is parallel to the right center point and is on the upper left side of the right image plane D1, and then a straight line parallel to the vertical line corresponding to the right center point is drawn from the starting point, which is the left boundary line of the right image plane D1).

[0057] Furthermore, after determining the image translation distance L2 on the left image plane D1 and the image translation distance L3 on the right image plane D2, the difference between the image translation distance L2 on the left image plane D1 and the image translation distance L3 on the right image plane D2 is recorded as the translation distance difference, and the lens focal length F of the left camera and the right camera is obtained (the specifications of the left camera and the right camera are the same, so the lens focal length is the same). Then, based on the principle of triangulation, according to the translation distance difference, the lens focal length F and the camera baseline length L1, the distance between the obstacle and the camera of the nuclear power plant aerial inspection robot can be determined, and then the position point of the camera can be determined according to the current position point of the nuclear power plant aerial inspection robot and the position where the camera is installed on the nuclear power plant aerial inspection robot, and then the obstacle position point of the obstacle can be determined according to the distance between the obstacle and the camera of the nuclear power plant aerial inspection robot and the position point of the camera.

[0058] The initial driving route is determined according to the obstacle location point.

[0059] It can be understood that the obstacle position point is the position information representing the obstacle. After the obstacle position points of all obstacles in the aerial scene image are determined, a driving route that does not collide with the obstacles can be formulated, which is the initial driving route.

[0060] In one embodiment, determining the initial driving route according to the obstacle location point includes:

[0061] When the aerial scene image contains only one obstacle, the initial driving route is determined according to the obstacle location point.

[0062] It can be understood that after the obstacle position point of the obstacle is determined, the number of obstacles in the aerial scene image is detected; when the number of obstacles is only one, a driving route that bypasses the obstacle can be formulated as the initial driving route.

[0063] When the aerial scene image contains at least two obstacles, obstacle position points corresponding to the obstacles are obtained to determine the initial driving route according to the obstacle position points.

[0064] It can be understood that if the aerial scene image contains at least two obstacles, it indicates that a driving route that bypasses all obstacles needs to be formulated so that the nuclear power plant aerial inspection robot can avoid all obstacles while following the initial driving route.

[0065] In one embodiment, when at least two obstacles are included in the aerial scene image, obtaining obstacle position points corresponding to each obstacle to determine the initial driving route according to each obstacle position point includes:

[0066] According to the current position point and each of the obstacle position points, it is determined whether the obstacles are both in front of the left and in front of the right of the nuclear power plant aerial inspection robot.

[0067] Specifically, when the aerial scene image contains at least two obstacles, the obstacle position points corresponding to each obstacle and the current position point of the nuclear power plant aerial inspection robot are obtained to determine whether there are obstacles in the left front and right front of the nuclear power plant aerial inspection robot. As defined above, based on the running direction of the nuclear power plant aerial inspection robot, detect whether there are obstacles in the left front and right front of the nuclear power plant aerial inspection robot. If the current position point can be used as the coordinate origin of the coordinate system, it can be determined whether the left front area (i.e., the second quadrant area) and the right front area (i.e., the first quadrant area) with the current position point as the origin both contain obstacles.

[0068] When there are obstacles both in the left front and in the right front of the nuclear power plant aerial inspection robot, the left front obstacle and the right front obstacle closest to the nuclear power plant aerial inspection robot are obtained.

[0069] Specifically, after determining whether the obstacles are both in the left front and right front of the nuclear power plant aerial inspection robot according to the current position point and each of the obstacle position points, when the obstacles are both in the left front and right front of the nuclear power plant aerial inspection robot, obtain the left front obstacle and the right front obstacle that are closest to the nuclear power plant aerial inspection robot; it can be understood that the closest defined here refers to the closest lateral distance, for example, a straight line is made through the current position point according to the running direction of the nuclear power plant aerial inspection robot, and then the vertical distance of each obstacle position point from the straight line is determined (that is, a perpendicular line is made to the straight line according to each obstacle position point), so as to obtain the lateral distance between each obstacle position point and the current position point, and then the left front obstacle with the closest lateral distance is recorded as the left front obstacle, and the right front obstacle with the closest lateral distance is recorded as the right front obstacle.

[0070] According to the obstacle position point of the left front obstacle and the obstacle position point of the right front obstacle, a straight line distance of an obstacle straight line between the left front obstacle and the right front obstacle is determined.

[0071] Specifically, when there are obstacles both in front of the left and right of the nuclear power plant aerial inspection robot, after obtaining the left front obstacle and the right front obstacle closest to the nuclear power plant aerial inspection robot, the straight-line spacing of the obstacle straight lines between the left front obstacle and the right front obstacle is determined according to the obstacle position points of the left front obstacle and the right front obstacle, that is, the straight-line spacing of the straight lines between the left front obstacle and the right front obstacle.

[0072] A preset safety distance of the nuclear power plant aerial inspection robot is obtained, and the preset safety distance is compared with the straight line distance.

[0073] Optionally, the preset safety distance can be set according to the straight-line distance from the left boundary to the right boundary of the shell of the nuclear power plant aerial inspection robot. For example, if the straight-line distance from the left boundary to the right boundary of the shell of the nuclear power plant aerial inspection robot is 0.5m, the preset safety distance can be set to 1m, 1.5m, etc. Specifically, after determining the straight-line distance of the obstacle straight line between the left front obstacle and the right front obstacle, the preset safety distance of the nuclear power plant aerial inspection robot is obtained, and the preset safety distance is compared with the straight-line distance.

[0074] When the preset safety distance is smaller than the straight line distance, a perpendicular bisector corresponding to the obstacle straight line is determined, and the initial driving route is determined according to the perpendicular bisector.

[0075] Specifically, after obtaining the preset safety distance of the nuclear power plant aerial inspection robot and comparing the preset safety distance with the straight line distance, if the preset safety distance is smaller than the straight line distance, the perpendicular median corresponding to the obstacle straight line is determined, and the initial driving route is determined according to the perpendicular median. It can be understood that if the preset safety distance is smaller than the straight line distance, it indicates that the nuclear power plant aerial inspection robot can safely pass through the middle of the left front obstacle and the right front obstacle.

[0076] In one embodiment, after comparing the preset safety distance with the straight line distance, the method further includes:

[0077] When the preset safety distance is greater than or equal to the straight-line distance, the left driving point is determined according to the obstacle position point of the left front obstacle and the preset safety distance, and the right driving point is determined according to the obstacle position point of the right front obstacle and the preset safety distance.

[0078] Specifically, after comparing the preset safety distance with the straight-line distance, if the preset safety distance is greater than or equal to the straight-line distance, it indicates that the nuclear power plant aerial inspection robot cannot pass through the left front obstacle and the right front obstacle, and then the left driving point is determined according to the obstacle position point of the left front obstacle and the preset safety distance, for example, the left driving point is determined at the preset safety distance to the left of the obstacle position point (which may be one preset safety distance or two preset safety distances), and the distance between the left driving point and other obstacles is greater than the preset safety distance; the right driving point is determined according to the obstacle position point of the right front obstacle and the preset safety distance, for example, the right driving point is determined at the preset safety distance to the right of the obstacle position point (which may be one preset safety distance or two preset safety distances), and the distance between the right driving point and other obstacles is greater than the preset safety distance.

[0079] A left driving route is determined according to the current position point and the left driving point, and a right driving route is determined according to the current position point and the right driving point.

[0080] Specifically, after determining the left driving point according to the obstacle position point of the left front obstacle and the preset safety distance, and determining the right driving point according to the obstacle position point of the right front obstacle and the preset safety distance, the left driving route is determined according to the current position point and the left driving point, so that the nuclear power plant aerial inspection robot can bypass the left front obstacle; the right driving route is determined according to the current position point and the right driving point, so that the nuclear power plant aerial inspection robot can bypass the right front obstacle.

[0081] The left-side driving route or the right-side driving route is determined as the initial driving route.

[0082] Specifically, a left driving route is determined according to the current position point and the left driving point, and a right driving route is determined according to the current position point and the right driving point, and the left driving route or the right driving route is determined as the initial driving route.

[0083] In one embodiment, determining the target driving route of the nuclear power plant aerial inspection robot according to the obstacle collision signal and the initial driving route includes:

[0084] It is determined whether the nuclear power plant aerial inspection robot collides during operation according to the obstacle collision signal.

[0085] Specifically, when the nuclear power plant aerial inspection robot is driving according to the initial driving route, after receiving the obstacle collision signal sent by the mechanical obstacle avoidance device in real time, it is determined whether the nuclear power plant aerial inspection robot collides during operation according to the obstacle collision signal.

[0086] When it is determined that the nuclear power plant aerial inspection robot collides during operation, a collision force sent by the mechanical obstacle avoidance device and a collision direction corresponding to the collision force are received.

[0087] Specifically, after determining whether the nuclear power plant aerial inspection robot collides during operation according to the obstacle collision signal, if it is determined that the nuclear power plant aerial inspection robot collides during operation, the collision force sent by the mechanical armband device and the collision direction corresponding to the collision force are received. Among them, the collision force is obtained by converting the synthetic force felt by the collision ring through the pressure sensor array in the mechanical collision device when the collision ring in the mechanical collision device touches the obstacle. The collision direction is the direction of the perpendicular bisector corresponding to the tangent (tangent of the collision point) when the nuclear power plant aerial inspection robot collides with the obstacle.

[0088] The collision moving distance is determined according to the collision force, and the initial driving route is adjusted according to the collision moving distance and the collision direction to obtain the target driving route.

[0089] Specifically, after receiving the collision force sent by the mechanical obstacle avoidance device, the collision moving distance can be determined according to the mass of the nuclear power plant aerial inspection robot and the collision force, and then the initial driving route is adjusted according to the collision moving distance and the collision direction to obtain the target driving route, so that the nuclear power plant aerial inspection robot will not collide with the obstacle when driving according to the target driving route. It can be understood that adjusting the initial driving route according to the collision moving distance and the collision direction only adjusts the driving route of the point where the current collision with the obstacle occurs.

[0090] In one embodiment, after determining whether the nuclear power plant aerial inspection robot collides during operation according to the obstacle collision signal, the method includes:

[0091] When it is determined that the obstacle collision signal indicates that the nuclear power plant aerial inspection robot has not collided during operation, the initial driving route is determined as the target driving route.

[0092] Specifically, after determining whether the nuclear power plant aerial inspection robot has collided during operation based on the obstacle collision signal, if it is determined that the obstacle collision signal indicates that the nuclear power plant aerial inspection robot has not collided during operation, then it indicates that the current nuclear power plant aerial inspection robot has not collided, and the initial driving route can be determined as the target driving route.

[0093] In one embodiment, after sending the target driving route to the motion execution device so that the motion execution device controls the nuclear power plant aerial inspection robot to travel according to the target driving route, the method further includes:

[0094] The current position of the nuclear power plant aerial inspection robot is obtained in real time, and it is detected whether there are other inspection robots within a preset range of the current position; other inspection robots are communicated with the nuclear power plant aerial inspection robot.

[0095] It is understandable that the preset range can be set according to the inspection range of the nuclear power plant aerial inspection robot. For example, the preset range can be set to 50m, 100m, etc., and then after obtaining the current position of the nuclear power plant aerial inspection robot in real time, it is detected whether there are other inspection robots in the circular area of ​​50m or 100m of the current position. Among them, other inspection robots are robots with the same structure as the nuclear power plant aerial inspection robot, and are also used for safety inspection of nuclear power plants.

[0096] When it is detected that there are other patrol robots within the preset range of the current position point, the patrol driving routes of the other patrol robots are obtained.

[0097] It can be understood that the inspection driving route is the current driving route of other inspection robots. The inspection driving route can be stored in the database of other inspection robots, and then two nuclear power plant aerial inspection robots within a certain range can obtain each other's driving route.

[0098] According to the target driving route and the inspection driving route, it is determined whether there are other inspection robots that meet the avoidance conditions.

[0099] It can be understood that the avoidance condition here means that there is an intersection between the target driving route and the inspection driving route, and the nuclear power plant aerial inspection machine and other inspection robots may collide at this intersection. Specifically, after obtaining the inspection driving route of other inspection robots, the target driving route and the inspection driving route can be compared, so that it can be determined whether there is an intersection between the target driving route and the inspection driving route. When there is an intersection, the current position point and running speed of the nuclear power plant aerial inspection robot, as well as the position points and running speeds of other inspection robots are obtained, so as to determine whether the nuclear power plant aerial inspection robot and other inspection robots will collide at the intersection according to the current position point and running speed of the nuclear power plant aerial inspection robot, as well as the position points and running speeds of other inspection robots. If a collision occurs, it can be determined that there are other inspection robots that meet the avoidance condition; if there is no intersection or no collision, it is determined that there are no other inspection robots that meet the avoidance condition.

[0100] When there are other inspection robots that meet the avoidance conditions, the other inspection robots that meet the avoidance conditions are recorded as avoidance robots, and robot avoidance information is generated according to the target driving route and the inspection driving route of the avoidance robot.

[0101] It can be understood that the robot avoidance information here is used to instruct the nuclear power plant aerial inspection robot and other inspection robots to avoid each other, so that the nuclear power plant aerial inspection robot and other inspection robots will not collide.

[0102] Specifically, when there are other inspection robots that meet the avoidance conditions, the other inspection robots that meet the avoidance conditions are recorded as avoidance robots, and robot avoidance information is generated according to the target driving route, the inspection driving route of the avoidance robot, the current position point and running speed of the nuclear power plant aerial inspection robot, and the current position point and running speed of the avoidance robot. For example, the robot avoidance information instructs the nuclear power plant aerial robot to speed up when approaching the intersection point, and resume normal operating speed after passing the intersection point; slow down the avoidance robot when approaching the intersection point, and resume normal operating speed after the nuclear power plant aerial robot passes the intersection point.

[0103] The robot avoidance information is sent to the motion execution device, so that the motion execution device controls the nuclear power plant aerial inspection robot to perform an avoidance operation according to the robot avoidance information.

[0104] Specifically, after the robot avoidance information is generated according to the target driving route and the inspection driving route of the avoidance robot, the robot avoidance information is sent to the motion execution device, so that the motion execution device controls the nuclear power plant aerial inspection robot to perform avoidance operations according to the robot avoidance information. For example, the motion execution device is made to speed up when approaching an intersection, and resume normal operating speed after passing the intersection; similarly, the robot avoidance information is sent to the avoidance robot, so that the motion execution device of the avoidance robot controls the avoidance robot to perform avoidance operations according to the robot avoidance information; for example, the motion execution device is made to slow down when the avoidance robot approaches an intersection, and resume normal operating speed after the nuclear power plant aerial robot passes the intersection.

[0105] In one embodiment, the nuclear power plant aerial inspection system further includes a display device connected to the controller;

[0106] It can be understood that the display device can be a liquid crystal display screen, a dot matrix screen, etc.

[0107] After sending the target driving route to the motion execution device so that the motion execution device controls the nuclear power plant aerial inspection robot to travel according to the target driving route, the method further includes:

[0108] The target driving route is sent to the display device so that the target driving route is displayed on the display device.

[0109] Specifically, after the target driving route is sent to the motion execution device so that the motion execution device controls the nuclear power plant aerial inspection robot to travel according to the target driving route, the target driving route can be sent to the display device, so that the target driving route is displayed on the display device, so that the flight intention of the nuclear power plant aerial inspection robot can be displayed on the display device.

[0110] In one embodiment, a method for aerial inspection of a nuclear power plant is provided, comprising:

[0111] During the operation of the nuclear power plant aerial inspection robot, receiving an aerial scene image sent by an image acquisition device in the nuclear power plant aerial inspection robot;

[0112] Generate an initial driving route according to the aerial scene image, and send the initial driving route to a motion execution device in the nuclear power plant aerial inspection robot, so that the motion execution device controls the nuclear power plant aerial inspection robot to travel according to the initial driving route;

[0113] When the nuclear power plant aerial inspection robot is driving according to the initial driving route, receiving in real time an obstacle collision signal sent by a mechanical obstacle avoidance device in the nuclear power plant aerial inspection robot;

[0114] Determining a target driving route of the nuclear power plant aerial inspection robot according to the obstacle collision signal and the initial driving route;

[0115] The target driving route is sent to the motion execution device, so that the motion execution device controls the nuclear power plant aerial inspection robot to travel according to the target driving route.

[0116] In this embodiment, the image acquisition device can prevent most obstacles from colliding with the nuclear power plant aerial inspection robot, and the mechanical obstacle avoidance device can further prevent the nuclear power plant aerial inspection robot from colliding with obstacles not captured by the image acquisition device, thereby improving the safety of the nuclear power plant aerial inspection robot's inspection process.

[0117] In one embodiment, the image acquisition device comprises a left camera and a right camera arranged on opposite sides of the nuclear power plant aerial inspection robot; the aerial scene image comprises a left scene image acquired by the left camera and a right scene image acquired by the right camera; one left scene image is associated with one right scene image;

[0118] The generating an initial driving route according to the aerial scene image comprises:

[0119] Performing image grayscale processing on the left scene image and the right scene image associated therewith to obtain a left grayscale image and a right grayscale image;

[0120] Performing feature recognition on the left grayscale image and the right grayscale image by a window sliding method to determine whether the left grayscale image and the right grayscale image contain obstacles;

[0121] When the left grayscale image and the right grayscale image contain obstacles, determining a left obstacle region in the left grayscale image and a right obstacle region in the right grayscale image;

[0122] Determine a left center point of the left obstacle area and a right center point of the right obstacle area;

[0123] Acquire the current position point of the nuclear power plant aerial inspection robot, and determine the obstacle position point of the obstacle according to the left center point, the right center point and the current position point;

[0124] The initial driving route is determined according to the obstacle location point.

[0125] In one embodiment, determining the initial driving route according to the obstacle location point includes:

[0126] When the aerial scene image contains only one obstacle, determining the initial driving route according to the obstacle location point;

[0127] When the aerial scene image contains at least two obstacles, obstacle position points corresponding to the obstacles are obtained to determine the initial driving route according to the obstacle position points.

[0128] In one embodiment, when at least two obstacles are included in the aerial scene image, obtaining obstacle position points corresponding to each obstacle to determine the initial driving route according to each obstacle position point includes:

[0129] According to the current position point and each of the obstacle position points, determining whether the obstacles are both in front of the left and right of the nuclear power plant aerial inspection robot;

[0130] When there are obstacles both in the left front and right front of the nuclear power plant aerial inspection robot, obtain the left front obstacle and the right front obstacle closest to the nuclear power plant aerial inspection robot;

[0131] Determine the straight-line distance of the obstacle straight line between the left-front obstacle and the right-front obstacle according to the obstacle position point of the left-front obstacle and the obstacle position point of the right-front obstacle;

[0132] Obtaining a preset safety distance of the nuclear power plant aerial inspection robot, and comparing the preset safety distance with the straight line distance;

[0133] When the preset safety distance is smaller than the straight line distance, a perpendicular bisector corresponding to the obstacle straight line is determined, and the initial driving route is determined according to the perpendicular bisector.

[0134] In one embodiment, after comparing the preset safety distance with the straight line distance, the method further includes:

[0135] When the preset safety distance is greater than or equal to the straight distance, a left driving point is determined according to the obstacle position point of the left front obstacle and the preset safety distance, and a right driving point is determined according to the obstacle position point of the right front obstacle and the preset safety distance;

[0136] Determine a left driving route according to the current position point and the left driving point, and determine a right driving route according to the current position point and the right driving point;

[0137] The left-side driving route or the right-side driving route is determined as the initial driving route.

[0138] In one embodiment, determining the target driving route of the nuclear power plant aerial inspection robot according to the obstacle collision signal and the initial driving route includes:

[0139] Determining whether the nuclear power plant aerial inspection robot collides during operation according to the obstacle collision signal;

[0140] When it is determined that the nuclear power plant aerial inspection robot collides during operation, receiving a collision force sent by the mechanical obstacle avoidance device and a collision direction corresponding to the collision force;

[0141] The collision moving distance is determined according to the collision force, and the initial driving route is adjusted according to the collision moving distance and the collision direction to obtain the target driving route.

[0142] In one embodiment, after determining whether the nuclear power plant aerial inspection robot collides during operation according to the obstacle collision signal, the method includes:

[0143] When it is determined that the obstacle collision signal indicates that the nuclear power plant aerial inspection robot has not collided during operation, the initial driving route is determined as the target driving route.

[0144] In one embodiment, after sending the target driving route to the motion execution device so that the motion execution device controls the nuclear power plant aerial inspection robot to travel according to the target driving route, the method further includes:

[0145] Acquire the current position of the nuclear power plant aerial inspection robot in real time, and detect whether there are other inspection robots within a preset range of the current position; other inspection robots communicate with the nuclear power plant aerial inspection robot;

[0146] When detecting that other patrol robots exist within a preset range of the current position point, obtaining patrol routes of other patrol robots;

[0147] Determining whether there are other patrol robots that meet the avoidance condition according to the target driving route and the patrol driving route;

[0148] When there are other inspection robots that meet the avoidance condition, record the other inspection robots that meet the avoidance condition as avoidance robots, and generate robot avoidance information according to the target driving route and the inspection driving route of the avoidance robot;

[0149] The robot avoidance information is sent to the motion execution device, so that the motion execution device controls the nuclear power plant aerial inspection robot to perform an avoidance operation according to the robot avoidance information.

[0150] In one embodiment, the nuclear power plant aerial inspection system further includes a display device connected to the controller;

[0151] After sending the target driving route to the motion execution device so that the motion execution device controls the nuclear power plant aerial inspection robot to travel according to the target driving route, the method further includes:

[0152] The target driving route is sent to the display device so that the target driving route is displayed on the display device.

[0153] It should be understood that the order of execution of the steps in the above embodiment does not necessarily mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiment of the present invention.

[0154] In one embodiment, a robot is provided, including a shell and the above-mentioned nuclear power plant aerial inspection system; the nuclear power plant aerial inspection system can be installed in the shell. For example, the forward-looking camera in the image acquisition device can be installed in front of the shell of the nuclear power plant aerial robot (with a left camera on the left and a right camera on the right, with the shell centerline as the boundary), and cameras can also be set on the opposite sides of the shell of the nuclear power plant aerial robot (for collecting aerial scene images on the left and right sides). The collision ring in the mechanical obstacle avoidance device can be installed on the outside of the shell of the nuclear power plant aerial inspection robot, and the pressure sensor array can be installed inside the shell of the nuclear power plant aerial inspection robot. The motor and motor driver in the operation execution device can be installed inside the shell of the nuclear power plant aerial inspection robot, and the propeller can be installed on the top of the nuclear power plant aerial inspection robot, etc.

[0155] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the aerial inspection method of a nuclear power plant in the above embodiment is implemented.

[0156] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0157] Those skilled in the art can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example. In actual applications, the above-mentioned functions can be distributed and completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above.

[0158] The embodiments described above are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be included in the protection scope of the present invention.

Claims

1. A nuclear power plant aerial inspection system, characterized in that: It includes a controller, an image acquisition device, a mechanical obstacle avoidance device and a motion execution device; the image acquisition device, the mechanical obstacle avoidance device and the motion execution device are all connected to the controller; The controller is used to: During the operation of the nuclear power plant aerial inspection robot, receiving the aerial scene image sent by the image acquisition device; Generate an initial driving route according to the aerial scene image, and send the initial driving route to the motion execution device, so that the motion execution device controls the nuclear power plant aerial inspection robot to travel according to the initial driving route; When the nuclear power plant aerial inspection robot is driving according to the initial driving route, receiving in real time an obstacle collision signal sent by the mechanical obstacle avoidance device; Determining a target driving route of the nuclear power plant aerial inspection robot according to the obstacle collision signal and the initial driving route; Sending the target driving route to the motion execution device so that the motion execution device controls the nuclear power plant aerial inspection robot to travel according to the target driving route; The image acquisition device comprises a left camera and a right camera arranged on opposite sides of the nuclear power plant aerial inspection robot; the aerial scene image comprises a left scene image acquired by the left camera and a right scene image acquired by the right camera; One of the left scene images is associated with one of the right scene images; The generating an initial driving route according to the aerial scene image comprises: Performing image grayscale processing on the left scene image and the right scene image associated therewith to obtain a left grayscale image and a right grayscale image; Performing feature recognition on the left grayscale image and the right grayscale image by a window sliding method to determine whether the left grayscale image and the right grayscale image contain obstacles; When the left grayscale image and the right grayscale image contain obstacles, determining a left obstacle region in the left grayscale image and a right obstacle region in the right grayscale image; Determine a left center point of the left obstacle area and a right center point of the right obstacle area; Acquire the current position point of the nuclear power plant aerial inspection robot, and determine the obstacle position point of the obstacle according to the left center point, the right center point and the current position point; Determining the initial driving route according to the obstacle location point; The step of determining the initial driving route according to the obstacle location point comprises: When the aerial scene image contains only one obstacle, determining the initial driving route according to the obstacle location point; When at least two obstacles are included in the aerial scene image, obtaining obstacle position points corresponding to each of the obstacles, so as to determine the initial driving route according to each of the obstacle position points; When at least two obstacles are included in the aerial scene image, obtaining obstacle position points corresponding to each obstacle to determine the initial driving route according to each obstacle position point includes: According to the current position point and each of the obstacle position points, determining whether the obstacles are both in front of the left and right of the nuclear power plant aerial inspection robot; When there are obstacles both in the left front and right front of the nuclear power plant aerial inspection robot, obtain the left front obstacle and the right front obstacle closest to the nuclear power plant aerial inspection robot; Determine the straight-line distance of the obstacle straight line between the left-front obstacle and the right-front obstacle according to the obstacle position point of the left-front obstacle and the obstacle position point of the right-front obstacle; Obtaining a preset safety distance of the nuclear power plant aerial inspection robot, and comparing the preset safety distance with the straight line distance; When the preset safety distance is smaller than the straight distance, determining the perpendicular bisector corresponding to the obstacle straight line, and determining the initial driving route according to the perpendicular bisector; After comparing the preset safety distance with the straight line distance, the method further includes: When the preset safety distance is greater than or equal to the straight distance, a left driving point is determined according to the obstacle position point of the left front obstacle and the preset safety distance, and a right driving point is determined according to the obstacle position point of the right front obstacle and the preset safety distance; Determine a left driving route according to the current position point and the left driving point, and determine a right driving route according to the current position point and the right driving point; The left-side driving route or the right-side driving route is determined as the initial driving route.

2. The nuclear power plant aerial inspection system according to claim 1, characterized in that: Determining the target driving route of the nuclear power plant aerial inspection robot according to the obstacle collision signal and the initial driving route includes: Determining whether the nuclear power plant aerial inspection robot collides during operation according to the obstacle collision signal; When it is determined that the nuclear power plant aerial inspection robot collides during operation, receiving a collision force sent by the mechanical obstacle avoidance device and a collision direction corresponding to the collision force; The collision moving distance is determined according to the collision force, and the initial driving route is adjusted according to the collision moving distance and the collision direction to obtain the target driving route.

3. The nuclear power plant aerial inspection system according to claim 2, characterized in that: After determining whether the nuclear power plant aerial inspection robot collides during operation according to the obstacle collision signal, the method includes: When it is determined that the obstacle collision signal indicates that the nuclear power plant aerial inspection robot has not collided during operation, the initial driving route is determined as the target driving route.

4. The nuclear power plant aerial inspection system according to claim 1, characterized in that: After sending the target driving route to the motion execution device so that the motion execution device controls the nuclear power plant aerial inspection robot to travel according to the target driving route, the method further includes: Acquire the current position of the nuclear power plant aerial inspection robot in real time, and detect whether there are other inspection robots within a preset range of the current position; other inspection robots communicate with the nuclear power plant aerial inspection robot; When detecting that other patrol robots exist within a preset range of the current position point, obtaining patrol routes of other patrol robots; Determining whether there are other patrol robots that meet the avoidance condition according to the target driving route and the patrol driving route; When there are other inspection robots that meet the avoidance condition, record the other inspection robots that meet the avoidance condition as avoidance robots, and generate robot avoidance information according to the target driving route and the inspection driving route of the avoidance robot; The robot avoidance information is sent to the motion execution device, so that the motion execution device controls the nuclear power plant aerial inspection robot to perform an avoidance operation according to the robot avoidance information.

5. The nuclear power plant aerial inspection system according to claim 1, characterized in that: The nuclear power plant aerial inspection system also includes a display device connected to the controller; After sending the target driving route to the motion execution device so that the motion execution device controls the nuclear power plant aerial inspection robot to travel according to the target driving route, the method further includes: The target driving route is sent to the display device so that the target driving route is displayed on the display device.

6. A nuclear power plant aerial inspection robot, characterized in that: It comprises a shell and a nuclear power plant aerial inspection system as claimed in any one of claims 1 to 5; the nuclear power plant aerial inspection system is installed in the shell.

7. A method for aerial inspection of a nuclear power plant, characterized in that: The nuclear power plant aerial inspection method is implemented based on the nuclear power plant aerial inspection system according to any one of claims 1 to 5, and the nuclear power plant aerial inspection method includes: During the operation of the nuclear power plant aerial inspection robot, receiving an aerial scene image sent by an image acquisition device in the nuclear power plant aerial inspection robot; Generate an initial driving route according to the aerial scene image, and send the initial driving route to a motion execution device in the nuclear power plant aerial inspection robot, so that the motion execution device controls the nuclear power plant aerial inspection robot to travel according to the initial driving route; When the nuclear power plant aerial inspection robot is driving according to the initial driving route, receiving in real time an obstacle collision signal sent by a mechanical obstacle avoidance device in the nuclear power plant aerial inspection robot; Determining a target driving route of the nuclear power plant aerial inspection robot according to the obstacle collision signal and the initial driving route; The target driving route is sent to the motion execution device, so that the motion execution device controls the nuclear power plant aerial inspection robot to travel according to the target driving route.

8. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by the processor, the aerial inspection method of the nuclear power plant as claimed in claim 7 is implemented.

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