Control methods and systems for nuclear emergency rescue robots

Abstract

This invention discloses a control method and system for a nuclear emergency rescue robot, relating to the field of emergency rescue control technology. The method includes: determining the rescue level based on the positional mapping relationship between a nuclear hazard area and a preset set of rescue areas to obtain an emergency rescue level information set; extracting elements from rescue areas of different levels in the emergency rescue level information set to obtain target area rescue element information; obtaining target area rescue task parameters based on the target area rescue element information and the hazard status parameters of the nuclear hazard area; inputting the target area rescue task parameters and the task scheduling information of the nuclear emergency rescue robot into a rescue resource allocation model to obtain rescue resource allocation information; and performing emergency rescue control on the preset set of rescue areas based on the rescue resource allocation information. This achieves the technical effect of intelligently and accurately optimizing the allocation of robots in rescue areas, thereby improving the efficiency of nuclear emergency accident handling and rescue.

Description

Technical Field

[0001] This invention relates to the field of emergency rescue control technology, and in particular to a control method and system for a nuclear emergency rescue robot. Background Technology

[0002] Nuclear energy, as a clean, efficient, and safe energy source, plays an increasingly important role in adjusting the energy structure, mitigating the greenhouse effect, and ensuring energy security. However, due to the presence of nuclear radiation, the spread of radioactive materials in the event of an accident at a nuclear facility will cause serious harm to the natural environment and the public. Therefore, ensuring nuclear safety is the primary task in developing nuclear energy. Nuclear emergency rescue robots are crucial technological equipment for efficiently responding to various special and dangerous accidents after a nuclear accident, preventing, controlling, and eliminating the harm of nuclear accidents to public health and the ecological environment, and ensuring nuclear safety.

[0003] However, existing technologies for handling nuclear emergency accidents suffer from technical problems such as low accuracy in scheduling and controlling nuclear emergency rescue robots, which affects the efficiency of nuclear emergency rescue. Summary of the Invention

[0004] This application provides a control method and system for a nuclear emergency rescue robot, which solves the technical problem that the accuracy of scheduling and control of nuclear emergency rescue robots in the existing nuclear emergency accident handling is not high, thus affecting the efficiency of nuclear emergency rescue. It achieves the technical effect of improving the efficiency of nuclear emergency accident handling and rescue by constructing a rescue resource allocation model to schedule and control nuclear emergency rescue robots, intelligently and accurately optimizing the allocation of robots in the rescue area.

[0005] In view of the above problems, the present invention provides a control method and system for a nuclear emergency rescue robot.

[0006] In a first aspect, this application provides a control method for a nuclear emergency rescue robot. The method includes: obtaining a positional mapping relationship between a nuclear hazard area and a preset set of rescue areas; determining the rescue level based on the positional mapping relationship to obtain an emergency rescue level information set; extracting elements from rescue areas of different levels in the emergency rescue level information set to obtain target area rescue element information; obtaining hazard status parameters of the nuclear hazard area through a sensor group, the hazard status parameters including temperature, humidity, and radioactive dose; obtaining target area rescue task parameters based on the target area rescue element information and the hazard status parameters; acquiring task scheduling information of the nuclear emergency rescue robot through a nuclear emergency rescue robot control system; inputting the target area rescue task parameters and the task scheduling information into a rescue resource allocation model to obtain rescue resource allocation information; and performing emergency rescue control on the preset set of rescue areas based on the rescue resource allocation information.

[0007] On the other hand, this application also provides a control system for a nuclear emergency rescue robot. The system includes: a position mapping relationship acquisition module, used to acquire the position mapping relationship between a nuclear hazard area and a set of preset rescue areas; a rescue level calibration module, used to calibrate the rescue level based on the position mapping relationship to acquire a set of emergency rescue level information; an element extraction module, used to extract elements from rescue areas of different levels in the set of emergency rescue level information to acquire rescue element information of the target area; a hazard status parameter acquisition module, used to acquire hazard status parameters of the nuclear hazard area through a sensor group, the hazard status parameters including temperature, humidity, and radioactive dose; a rescue task parameter acquisition module, used to acquire rescue task parameters of the target area based on the rescue element information of the target area and the hazard status parameters; a robot task scheduling acquisition module, used to acquire task scheduling information of the nuclear emergency rescue robot through the nuclear emergency rescue robot control system; and an emergency rescue management module, used to input the rescue task parameters of the target area and the task scheduling information into a rescue resource allocation model to acquire rescue resource allocation information, and to perform emergency rescue management of the set of preset rescue areas based on the rescue resource allocation information.

[0008] One or more technical solutions provided in this application have at least the following technical effects or advantages:

[0009] This technical solution employs a location mapping relationship between nuclear hazard areas and a set of pre-defined rescue areas to determine rescue levels. Then, it extracts elements from different levels of rescue areas within the determined emergency rescue level information set to obtain rescue element information for the target area. Simultaneously, it obtains hazard status parameters for the nuclear hazard area through a sensor array. Based on the target area rescue element information and hazard status parameters, it obtains target area rescue task parameters. The nuclear emergency rescue robot control system acquires the task scheduling information of the nuclear emergency rescue robot. These target area rescue task parameters and task scheduling information are input into a rescue resource allocation model to obtain rescue resource allocation information. Finally, based on the rescue resource allocation information, it performs emergency rescue management and control over the set of pre-defined rescue areas. This achieves the technical effect of improving the efficiency of nuclear emergency accident handling and rescue by constructing a rescue resource allocation model to schedule and control nuclear emergency rescue robots, intelligently and accurately optimizing the allocation of robots in rescue areas. Attached Figure Description

[0010] Figure 1 This is a flowchart illustrating a control method for a nuclear emergency rescue robot according to this application;

[0011] Figure 2 This is a schematic diagram illustrating the process of obtaining rescue mission parameters in a target area using a control method for a nuclear emergency rescue robot according to this application.

[0012] Figure 3 This is a schematic diagram of the process of calling the calibrated hazard rescue prediction model in the control method of a nuclear emergency rescue robot according to this application;

[0013] Figure 4 This is a schematic diagram of the control system of a nuclear emergency rescue robot according to this application;

[0014] Explanation of reference numerals in the attached diagram: Module 11 for obtaining location mapping relationship, Module 12 for determining rescue level, Module 13 for extracting elements, Module 14 for obtaining hazard status parameters, Module 15 for obtaining rescue mission parameters, Module 16 for obtaining robot mission scheduling, and Module 17 for emergency rescue management. Detailed Implementation

[0015] This application provides a control method system for nuclear emergency rescue robots, which solves the technical problem that the accuracy of scheduling and control of nuclear emergency rescue robots in the existing technology is not high, thus affecting the efficiency of nuclear emergency rescue. It achieves the technical effect of improving the efficiency of nuclear emergency rescue by constructing a rescue resource allocation model to schedule and control nuclear emergency rescue robots, intelligently and accurately optimizing the allocation of robots in the rescue area.

[0016] Example 1

[0017] like Figure 1 As shown, this application provides a control method for a nuclear emergency rescue robot. The method is applied to a nuclear emergency rescue robot control system, the system being communicatively connected to the nuclear emergency rescue robot. The method includes:

[0018] Step S100: Obtain the location mapping relationship between the nuclear hazard area and the set of preset rescue areas;

[0019] Step S200: Determine the rescue level based on the location mapping relationship to obtain an emergency rescue level information set;

[0020] Specifically, nuclear energy, as a clean, efficient, and safe energy source, plays an increasingly important role in adjusting the energy structure, mitigating the greenhouse effect, and ensuring energy security. However, due to the presence of nuclear radiation, the spread of radioactive materials in the event of an accident at a nuclear facility will cause serious harm to the natural environment and the public. Therefore, ensuring nuclear safety is the primary task in developing nuclear energy. Nuclear emergency rescue robots are crucial technological equipment for efficiently responding to various special hazardous accidents after a nuclear accident, preventing, controlling, and eliminating the harm of nuclear accidents to public health and the ecological environment, and ensuring nuclear safety.

[0021] To precisely control nuclear emergency rescue robots, the location mapping relationship between nuclear hazard areas and a set of pre-defined rescue areas is first obtained. This involves using geographic map information to determine the geographical location of the nuclear hazard area and its surrounding areas requiring rescue. Then, based on this location mapping relationship, rescue levels are assigned. Rescue areas closer to the nuclear hazard area receive higher rescue levels. By calculating the emergency rescue level information for surrounding rescue areas according to their proximity in the location mapping relationship, the efficiency of subsequent emergency rescue operations is improved.

[0022] Step S300: Extract elements from the different levels of rescue areas in the emergency rescue level information set to obtain rescue element information of the target area;

[0023] Step S400: Obtain the hazard status parameters of the nuclear hazard area through the sensor group, including temperature, humidity, and radioactive dose;

[0024] Specifically, element extraction is performed on rescue areas at different levels within the emergency response level information set. This involves extracting rescue elements from the target rescue area, including the number of people in the area, the area size, and the terrain. Hazard parameters of the nuclear hazard area are obtained through a sensor array. This involves real-time data collection of the hazard situation in the nuclear hazard area using multiple sensors, including visual sensors, odometers, ultrasonic sensors, laser sensors, infrared sensors, temperature sensors, humidity sensors, and gamma radiation dose sensors. This data acquisition provides environmental hazard parameters such as temperature, humidity, and radioactive dose in the nuclear-affected area, ensuring the accuracy and efficiency of subsequent nuclear emergency response scheduling.

[0025] Step S500: Based on the target area rescue element information and the hazard status parameters, obtain the target area rescue mission parameters;

[0026] like Figure 2 As shown, further, in obtaining the target area rescue mission parameters based on the target area rescue element information and the hazard status parameters, step S500 of this application also includes:

[0027] Step S510: Classify the hazard status parameters using a hazard feature decision tree to obtain hazard classification feature parameter information;

[0028] Step S520: Based on the hazard classification feature parameter information, call the calibrated hazard rescue prediction model;

[0029] Step S530: Input the target area rescue element information and the hazard status parameters into the calibrated hazard rescue prediction model to obtain hazard rescue prediction parameter information;

[0030] Step S540: Construct a rescue mission based on the hazard rescue prediction parameter information and obtain the rescue mission parameters for the target area.

[0031] like Figure 3 As shown, further, the step S520 of this application, which involves calling the calibrated hazard rescue prediction model based on the hazard classification feature parameter information, also includes:

[0032] Step S521: Obtain historical nuclear hazard relief data information, which includes nuclear hazard relief data information for each calibration parameter category;

[0033] Step S522: Use the historical nuclear hazard rescue data information as training data according to the categories of each calibration parameter to train the neural network model and build a hazard rescue prediction model library;

[0034] Step S523: Determine the hazard calibration parameters based on the hazard classification feature information;

[0035] Step S524: Based on the hazard calibration parameters, call the calibrated hazard rescue prediction model from the hazard rescue prediction model library.

[0036] Specifically, the hazard status parameters are classified using a hazard feature decision tree. A decision tree is a graphical method that intuitively applies probability analysis. This classifier can give the correct classification for newly appearing objects. It consists of a root node, internal nodes, and leaf nodes. The hazard feature decision tree is composed of hazard feature attributes and is used to classify the hazard features of nuclear hazard areas to obtain corresponding hazard classification feature parameter information. The hazard classification feature parameter information is the classification feature level of nuclear hazard, including temperature, humidity, and radioactive dose hazard level. For example, the hazard classification feature parameters are temperature and humidity for severe hazard level and radioactive dose for mild hazard level.

[0037] Based on the hazard classification feature parameters, a calibrated hazard rescue prediction model is invoked. This calibrated hazard rescue prediction model is a specific personalized rescue prediction model corresponding to the hazard feature classification parameter. The invocation process first obtains historical nuclear hazard rescue data through big data. This historical nuclear hazard data includes nuclear hazard rescue data for each calibration parameter category, including nuclear hazard occurrence environment parameters, rescue area element information, and corresponding rescue resources and rescue effect information. The calibration parameters are composed of hazard feature classification parameters, and different combinations of hazard feature classification parameters constitute corresponding calibration parameter categories. Then, the historical nuclear hazard rescue data is used as training data according to each calibration parameter category to train a neural network model. That is, the neural network is trained using historical data with different parameters. When the model converges, the hazard rescue prediction model corresponding to that parameter category is obtained. Finally, a hazard rescue prediction model library is constructed by combining the various hazard rescue prediction models.

[0038] Based on the hazard classification feature information, hazard calibration parameters corresponding to the nuclear hazard area are determined. Based on these hazard calibration parameters, a specific calibrated hazard rescue prediction model corresponding to the calibration parameters is called from the hazard rescue prediction model library. The rescue element information of the target area and the hazard status parameters are input into the calibrated hazard rescue prediction model for analysis, obtaining the model output, which is the hazard rescue prediction parameter information. This hazard rescue prediction parameter information consists of rescue task parameters, including parameters such as the type and quantity of rescue resources required. A rescue task is constructed based on the hazard rescue prediction parameter information to obtain the target area rescue task parameters. These target area rescue task parameters include the rescue resource information and rescue point information required by each rescue area in this rescue task. By calling a specific personalized hazard rescue prediction model to determine the rescue task parameters, the acquisition of target area rescue task parameters becomes more reasonable and accurate, thereby improving the accuracy of rescue resource scheduling.

[0039] Step S600: Obtain the task scheduling information of the nuclear emergency rescue robot through the nuclear emergency rescue robot control system;

[0040] Furthermore, in obtaining the task scheduling information of the nuclear emergency rescue robot, step S600 of this application also includes:

[0041] Step S610: Obtain the operational attribute information of the nuclear emergency rescue robot through the nuclear emergency rescue robot control system. The operational attribute information includes geometric dimensions, boundary conditions, load conditions, and electro-hydraulic drive system status information.

[0042] Step S620: Construct a robot functional reliability mapping model;

[0043] Step S630: Based on the robot functional reliability mapping model, generate a robot operation reliability database;

[0044] Step S640: Based on the operational attribute information and the robot operational reliability database, obtain the task scheduling information of the nuclear emergency rescue robot.

[0045] Furthermore, in constructing the robot functional reliability model, step S620 of this application also includes:

[0046] Step S621: Obtain the environmental factors of the nuclear emergency area, including working load, temperature, humidity, gamma radiation dose rate, and cumulative absorbed dose;

[0047] Step S622: Arrange the environmental factors of the nuclear emergency area orthogonally to obtain a nuclear emergency environmental parameter table;

[0048] Step S623: Simulate the nuclear emergency rescue robot with each operating attribute according to the nuclear emergency environment parameter table to obtain robot operating function information;

[0049] Step S624: Based on the nuclear emergency environment parameter table and the robot's operational function information, construct the robot's functional reliability model.

[0050] Specifically, the nuclear emergency rescue robot control system is a control system used to analyze and schedule nuclear emergency rescue robots, and it communicates with each nuclear emergency rescue robot. The system acquires operational attribute information for each nuclear emergency rescue robot, including its geometric dimensions, boundary conditions, load conditions, and electro-hydraulic drive system status information such as drive power and drive rate. Nuclear emergency rescue robots are complex systems combining mechanical, electrical, and hydraulic components. During operation, they endure complex load conditions and are affected by a series of nonlinear time-varying factors such as rigid-flexible coupling, nuclear radiation, and unstructured environmental factors. Rescue robots with different operational attribute parameters have different tolerance ranges for nuclear hazard environments.

[0051] To accurately schedule nuclear emergency rescue robots, a robot functional reliability mapping model is constructed. This model is a correlation model between environmental factors at the nuclear emergency rescue site and the functional status information of the nuclear emergency rescue robot. The construction process begins by obtaining the environmental factors of the nuclear emergency area, which are the working environment factors of the nuclear emergency rescue robot, including workload, temperature, humidity, gamma radiation dose rate, and cumulative absorbed dose. These environmental factors are then orthogonally arranged. The orthogonal arrangement method is a design method for studying multiple factors and levels, resulting in a table of nuclear emergency environmental parameters representing the permutations and combinations of various environmental factors.

[0052] The nuclear emergency rescue robots with different operational attributes are simulated according to the aforementioned nuclear emergency environment parameter table. This involves parameter simulation of rescue robots with different operational attributes to obtain operational functional information of the rescue robots in a simulated nuclear emergency environment. Based on the nuclear emergency environment parameter table and the robot's operational functional information, a robot functional reliability model is constructed to perform a reliability fusion analysis of the correlation characteristics between environmental factors at the nuclear emergency rescue site and the operational functions of the nuclear emergency rescue robots.

[0053] Based on the simulation output of the robot functional reliability mapping model, a robot operational reliability database is generated. This database is used to map the relationship between uncertain environmental factors and the failure of rescue robot functions at various operational attributes. By querying and matching the robot operational reliability database based on the operational attribute information, the task scheduling information of the nuclear emergency rescue robot is obtained, i.e., the operational environmental factors when the rescue robot's operational functions are effective and schedulable for each operational attribute. This achieves the technical effect of improving the efficiency of nuclear emergency accident handling and rescue by establishing a mapping relationship for the operational reliability of rescue robots, enabling scheduling and control of rescue robot operations, ensuring the effective performance of rescue robots, and ultimately improving the efficiency of nuclear emergency accident handling and rescue.

[0054] Step S700: Input the target area rescue task parameters and the task scheduling information into the rescue resource allocation model to obtain rescue resource allocation information, and perform emergency rescue management and control on the preset rescue area set based on the rescue resource allocation information.

[0055] Furthermore, in obtaining the information on the allocation of rescue resources, step S700 of this application also includes:

[0056] Step S710: The rescue resource allocation model includes an input layer, a resource analysis layer, a resource allocation layer, and an output layer;

[0057] Step S720: Input the target area rescue mission parameters and the mission scheduling information into the resource analysis layer through the input layer to obtain target rescue resource matching information;

[0058] Step S730: Based on the resource allocation layer, perform allocation analysis on the target rescue resource matching information to obtain rescue resource allocation information;

[0059] Step S740: Output the rescue resource allocation information as the model output result through the output layer.

[0060] Furthermore, step S740 of this application also includes:

[0061] Step S741: Real-time monitoring of the rescue status of the preset rescue area set to obtain rescue control progress information and rescue robot operation status information;

[0062] Step S742: Generate a rescue resource regulation factor based on the rescue control progress information and the rescue robot operation status information;

[0063] Step S743: Update the rescue resource allocation information based on the rescue resource regulation factor to obtain updated rescue resource allocation information.

[0064] Specifically, the target area rescue task parameters and the task scheduling information are input into the rescue resource allocation model. This model analyzes and allocates existing rescue resources. The model's functional layers include an input layer, a resource analysis layer, a resource allocation layer, and an output layer. The target area rescue task parameters and the task scheduling information are input into the resource analysis layer through the input layer. The resource analysis layer matches the required rescue resources for the target area with existing rescue resources to obtain target rescue resource matching information. This matching information includes information on the type of rescue resource being matched, such as the operational attribute type of a nuclear emergency rescue robot.

[0065] Then, based on the resource allocation layer, the target rescue resource matching information is analyzed for allocation. This resource allocation layer performs priority allocation analysis on the matched rescue resources, obtaining rescue resource allocation information ranked by priority, including resource allocation type and corresponding resource quantity information. Finally, the output layer outputs the rescue resource allocation information as the model output result. To ensure the accuracy and real-time performance of emergency robot scheduling, the rescue status of the preset rescue area set is monitored in real time to obtain rescue control progress information and rescue robot operation status information, i.e., the emergency rescue status information of the target rescue area. Based on the rescue control progress information and rescue robot operation status information, a rescue resource regulation factor is generated. This rescue resource regulation factor is a resource regulation parameter that needs to be corrected according to the current emergency rescue status.

[0066] The rescue resource allocation information is updated based on the aforementioned rescue resource regulation factors. For example, the types and quantities of rescue robots in the rescue resource allocation information are corrected and adjusted to obtain the corrected rescue resource allocation information. This ensures the adaptability of rescue resource allocation to the rescue status and optimizes the rescue allocation and control of emergency rescue robots. The goal is to achieve the technical effect of improving the efficiency of nuclear emergency accident handling and rescue by constructing a rescue resource allocation model for scheduling and controlling nuclear emergency rescue robots, intelligently and accurately optimizing robot allocation in rescue areas.

[0067] In summary, the control method and system for a nuclear emergency rescue robot provided in this application have the following technical effects:

[0068] This technical solution employs a location mapping relationship between nuclear hazard areas and a set of pre-defined rescue areas to determine rescue levels. Then, it extracts elements from different levels of rescue areas within the determined emergency rescue level information set to obtain rescue element information for the target area. Simultaneously, it obtains hazard status parameters for the nuclear hazard area through a sensor array. Based on the target area rescue element information and hazard status parameters, it obtains target area rescue task parameters. The nuclear emergency rescue robot control system acquires the task scheduling information of the nuclear emergency rescue robot. These target area rescue task parameters and task scheduling information are input into a rescue resource allocation model to obtain rescue resource allocation information. Finally, based on the rescue resource allocation information, it performs emergency rescue management and control over the set of pre-defined rescue areas. This achieves the technical effect of improving the efficiency of nuclear emergency accident handling and rescue by constructing a rescue resource allocation model to schedule and control nuclear emergency rescue robots, intelligently and accurately optimizing the allocation of robots in rescue areas.

[0069] Example 2

[0070] Based on the same inventive concept as the control method for a nuclear emergency rescue robot described in the foregoing embodiments, this invention also provides a control system for a nuclear emergency rescue robot, such as... Figure 4 As shown, the system includes:

[0071] The location mapping relationship acquisition module 11 is used to obtain the location mapping relationship between the nuclear hazard area and the set of preset rescue areas;

[0072] The rescue level calibration module 12 is used to calibrate the rescue level based on the location mapping relationship and obtain an emergency rescue level information set.

[0073] The element extraction module 13 is used to extract elements from the rescue areas of different levels in the emergency rescue level information set to obtain rescue element information of the target area;

[0074] The hazard status parameter acquisition module 14 is used to acquire hazard status parameters of the nuclear hazard area through a sensor group, including temperature, humidity, and radioactive dose.

[0075] The rescue mission parameter acquisition module 15 is used to obtain the target area rescue mission parameters based on the target area rescue element information and the hazard status parameters.

[0076] The robot task scheduling acquisition module 16 is used to acquire the task scheduling information of the nuclear emergency rescue robot through the nuclear emergency rescue robot control system.

[0077] The emergency rescue management module 17 is used to input the rescue task parameters of the target area and the task scheduling information into the rescue resource allocation model to obtain rescue resource allocation information, and to perform emergency rescue management on the preset rescue area set based on the rescue resource allocation information.

[0078] Furthermore, the position mapping relationship acquisition module also includes:

[0079] The parameter classification unit is used to classify the hazard status parameters through a hazard feature decision tree to obtain hazard classification feature parameter information;

[0080] The model invocation unit is used to invoke the calibrated hazard rescue prediction model based on the hazard classification feature parameter information;

[0081] The model prediction unit is used to input the target area rescue element information and the hazard status parameters into the calibrated hazard rescue prediction model to obtain hazard rescue prediction parameter information;

[0082] The rescue mission parameter acquisition unit is used to construct a rescue mission based on the hazard rescue prediction parameter information and obtain the rescue mission parameters for the target area.

[0083] Furthermore, the model invocation unit also includes:

[0084] The historical data acquisition unit is used to acquire historical nuclear hazard rescue data information, which includes nuclear hazard rescue data information for each calibration parameter category;

[0085] The model library construction unit is used to train a neural network model by using the historical nuclear hazard rescue data information according to the categories of each calibration parameter, and to construct a hazard rescue prediction model library.

[0086] The calibration parameter determination unit is used to determine the hazard calibration parameters based on the hazard classification feature information.

[0087] The feature fusion unit is used to perform tag feature fusion on the patient treatment tag information to obtain treatment feature fusion information;

[0088] The model acquisition unit is used to call the calibrated hazard rescue prediction model from the hazard rescue prediction model library based on the hazard calibration parameters.

[0089] Furthermore, the robot task scheduling acquisition module also includes:

[0090] The operation attribute acquisition unit is used to acquire the operation attribute information of the nuclear emergency rescue robot through the nuclear emergency rescue robot control system. The operation attribute information includes geometric dimensions, boundary conditions, load conditions, and electro-hydraulic drive system status information.

[0091] Model building unit, used to build robot functional reliability mapping model;

[0092] The model library generation unit is used to generate a robot operation reliability database based on the robot functional reliability mapping model.

[0093] The task scheduling acquisition unit is used to obtain the task scheduling information of the nuclear emergency rescue robot based on the running attribute information and the robot running reliability database.

[0094] Furthermore, the model building unit also includes:

[0095] An environmental factor acquisition unit is used to acquire environmental factors of the nuclear emergency area, including working load, temperature, humidity, gamma radiation dose rate, and cumulative absorbed dose.

[0096] An environmental parameter acquisition unit is used to orthogonally arrange the environmental factors of the nuclear emergency area to obtain a nuclear emergency environmental parameter table.

[0097] The simulation unit is used to simulate the nuclear emergency rescue robot with each operating attribute according to the nuclear emergency environment parameter table, and to obtain robot operating function information.

[0098] The reliability model construction unit is used to construct the robot's functional reliability model based on the nuclear emergency environment parameter table and the robot's operational function information.

[0099] Furthermore, the emergency rescue and control module also includes:

[0100] The model building blocks, used in the rescue resource allocation model, include an input layer, a resource analysis layer, a resource allocation layer, and an output layer;

[0101] The resource analysis unit is used to input the target area rescue mission parameters and the mission scheduling information into the resource analysis layer through the input layer to obtain target rescue resource matching information;

[0102] The resource allocation unit is used to analyze the matching information of the target rescue resources based on the resource allocation layer to obtain rescue resource allocation information;

[0103] The model output unit is used to output the rescue resource allocation information as the model output result through the output layer.

[0104] Furthermore, the emergency rescue and control module also includes:

[0105] The rescue status monitoring unit is used to monitor the rescue status of the preset rescue area set in real time, and obtain rescue control progress information and rescue robot operation status information.

[0106] The regulation factor generation unit is used to generate a rescue resource regulation factor based on the rescue control progress information and the rescue robot operation status information.

[0107] The rescue resource update unit is used to update the rescue resource allocation information based on the rescue resource regulation factor to obtain updated rescue resource allocation information.

[0108] This application provides a control method for a nuclear emergency rescue robot. The method includes: obtaining a positional mapping relationship between a nuclear hazard area and a preset set of rescue areas; calibrating the rescue level based on the positional mapping relationship to obtain an emergency rescue level information set; extracting elements from rescue areas of different levels in the emergency rescue level information set to obtain target area rescue element information; obtaining hazard status parameters of the nuclear hazard area through a sensor group, the hazard status parameters including temperature, humidity, and radioactive dose; obtaining target area rescue task parameters based on the target area rescue element information and the hazard status parameters; acquiring task scheduling information of the nuclear emergency rescue robot through a nuclear emergency rescue robot control system; inputting the target area rescue task parameters and the task scheduling information into a rescue resource allocation model to obtain rescue resource allocation information; and performing emergency rescue control on the preset set of rescue areas based on the rescue resource allocation information. This method solves the technical problem of low accuracy in the scheduling and control of nuclear emergency rescue robots in existing nuclear emergency accident handling, which affects the efficiency of nuclear emergency rescue. It achieves the technical effect of improving the efficiency of nuclear emergency accident handling and rescue by constructing a rescue resource allocation model for scheduling and controlling nuclear emergency rescue robots, intelligently and accurately optimizing the allocation of robots in rescue areas.

[0109] This specification and accompanying drawings are merely illustrative examples of this application. If any modifications and variations of this invention fall within the scope of this invention and its equivalents, this invention also intends to include such modifications and variations.

Claims

1. A control method of a nuclear emergency rescue robot, characterized by, The method is applied to a nuclear emergency rescue robot control system, the system is in communication connection with a nuclear emergency rescue robot, and the method comprises: Obtaining a position mapping relationship of a nuclear hazard area and a preset rescue area set; Based on the position mapping relationship, the rescue level is calibrated to obtain an emergency rescue level information set; Element extraction is performed on the rescue areas of different levels in the emergency rescue level information set to obtain target area rescue element information; Obtain the hazard condition parameters of the nuclear hazard area through the sensor group, the hazard condition parameters include temperature, humidity, and radioactive dose; Based on the target area rescue element information and the hazard condition parameters, obtain target area rescue task parameters; Obtain the task scheduling information of the nuclear emergency rescue robot through the nuclear emergency rescue robot control system; Input the target area rescue task parameters and the task scheduling information into the rescue resource allocation model to obtain rescue resource allocation information, and perform emergency rescue management and control on the preset rescue area set based on the rescue resource allocation information; Based on the target area rescue element information and the hazard condition parameters, obtain target area rescue task parameters, comprising: Classify the hazard condition parameters through a hazard feature decision tree to obtain hazard classification feature parameter information; Based on the hazard classification feature parameter information, call a calibrated hazard rescue prediction model; Input the target area rescue element information and the hazard condition parameters into the calibrated hazard rescue prediction model to obtain hazard rescue prediction parameter information; Based on the hazard rescue prediction parameter information, construct a rescue task to obtain the target area rescue task parameters; Based on the hazard classification feature parameter information, call a calibrated hazard rescue prediction model, comprising: Obtain historical nuclear hazard rescue data information, the historical nuclear hazard data information includes nuclear hazard rescue data information of each calibration parameter category; Respectively use the historical nuclear hazard rescue data information as training data for neural network model training according to the calibration parameter categories to construct a hazard rescue prediction model library; Determine the hazard calibration parameters according to the hazard classification feature information; Based on the hazard calibration parameters, call the calibrated hazard rescue prediction model from the hazard rescue prediction model library.

2. The method of claim 1, wherein, The task scheduling information of the nuclear emergency rescue robot is obtained, comprising: Obtain the running attribute information of the nuclear emergency rescue robot through the nuclear emergency rescue robot control system, the running attribute information includes geometric size, boundary condition, load working condition, and electro-hydraulic drive system state information; Construct a robot function reliability mapping model; Based on the robot function reliability mapping model, generate a robot running reliability database; Based on the running attribute information and the robot running reliability database, obtain the task scheduling information of the nuclear emergency rescue robot.

3. The method of claim 2, wherein, The robot function reliability model is constructed, comprising: Obtain nuclear emergency area environmental factors, the nuclear emergency area environmental factors include working load, temperature, humidity, gamma radiation dose rate, and cumulative absorbed dose; The nuclear emergency area environmental factors are orthogonally arranged to obtain a nuclear emergency environmental parameter table; According to the nuclear emergency environmental parameter table, simulation and emulation are performed on the nuclear emergency rescue robots with each operation attribute to obtain robot operation function information; Based on the nuclear emergency environmental parameter table and the robot operation function information, a robot function reliability model is constructed.

4. The method of claim 1, wherein, The obtained rescue resource allocation information includes: The rescue resource allocation model includes an input layer, a resource analysis layer, a resource allocation layer, and an output layer; The target area rescue task parameters and the task scheduling information are input into the resource analysis layer through the input layer to obtain target rescue resource matching information; Based on the resource allocation layer, the target rescue resource matching information is analyzed and allocated to obtain rescue resource allocation information; The rescue resource allocation information is output as a model output result through the output layer.

5. The method of claim 1, wherein, The method includes: Real-time monitoring of the rescue state of the preset rescue area set is performed to obtain rescue management progress information and rescue robot operation state information; According to the rescue management progress information and the rescue robot operation state information, rescue resource control factors are generated; Based on the rescue resource control factors, the rescue resource allocation information is updated to obtain updated rescue resource allocation information.

6. A control system of a nuclear emergency rescue robot implementing the method of claim 1, characterized by, The system includes: A position mapping relationship obtaining module is configured to obtain a position mapping relationship between a nuclear hazard area and a preset rescue area set; A rescue level calibration module is configured to calibrate rescue levels based on the position mapping relationship to obtain an emergency rescue level information set; An element extraction module is configured to extract elements of rescue areas of different levels from the emergency rescue level information set to obtain target area rescue element information; A hazard condition parameter obtaining module is configured to obtain hazard condition parameters of the nuclear hazard area through a sensor group, wherein the hazard condition parameters include temperature, humidity, and radioactive dose; A rescue task parameter obtaining module is configured to obtain target area rescue task parameters based on the target area rescue element information and the hazard condition parameters; A robot task scheduling obtaining module is configured to obtain task scheduling information of nuclear emergency rescue robots through a nuclear emergency rescue robot control system; An emergency rescue management and control module is configured to input the target area rescue task parameters and the task scheduling information into a rescue resource allocation model to obtain rescue resource allocation information, and perform emergency rescue management and control on the preset rescue area set based on the rescue resource allocation information.

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