Nuclear power tunnel cleaning robot leakage control method, system, device and medium

Abstract

This invention relates to a method, system, equipment, and medium for preventing material leakage in a nuclear power plant tunnel cleaning robot. The method includes the following steps: S1, acquiring input operation commands and the robot's current operating status information; S2, determining whether the operation command conforms to preset interlocking rules based on the operating status information; if not, the robot executes the operation corresponding to the operation command; if so, the robot is prohibited from executing the operation corresponding to the operation command to avoid material leakage caused by abnormal robot operation. This invention, by determining whether the operation command conforms to preset interlocking rules based on the operating status information, allows the robot to execute the operation corresponding to the operation command; when the interlocking rules are met, the robot is prohibited from executing the operation corresponding to the operation command, thereby preventing material leakage caused by abnormal robot operation and improving the efficiency of material collection.

Description

Technical Field

[0001] This invention relates to the field of robot control, and in particular to a method, system, equipment and medium for preventing material leakage in a nuclear power plant tunnel cleaning robot. Background Technology

[0002] Most coastal nuclear power plants in China construct water intake tunnels near the sea to draw seawater as their final cooling water. Over time, the accumulation of marine organisms in these tunnels can easily clog the intakes, causing blockages in the nuclear power plant's cooling water supply. Therefore, regular cleaning of the marine organisms within the tunnels is necessary. One method for cleaning the tunnels involves stripping the marine organisms from the tunnel walls and then using large-scale cleaning equipment to collect the scattered marine material for transport outside the tunnel. To prevent leakage during operation and ensure the safe operation of the large-scale cleaning equipment, the operational coordination between its various components needs to be controlled. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to provide a method, system, equipment and medium for preventing material leakage in nuclear power tunnel cleaning robots.

[0004] The technical solution adopted by this invention to solve its technical problem is: constructing a method for preventing material leakage in a nuclear power plant tunnel cleaning robot, wherein the robot is used to gather and collect materials; including the following steps:

[0005] S1. Obtain the input operation command and the current operating status information of the robot;

[0006] S2. Determine whether the operation instruction conforms to the preset interlocking rules based on the operation status information; if not, the robot executes the operation corresponding to the operation instruction; if yes, the robot is prohibited from executing the operation corresponding to the operation instruction to avoid material leakage caused by abnormal operation of the robot.

[0007] Preferably, the robot includes

[0008] A walking host with a material collection chamber inside is used to drive the robot to move;

[0009] A floating side-gathering collection unit connected to both sides of the front collection unit includes a left-side gathering collection unit and a right-side gathering collection unit. The side-gathering collection unit is used to push the material to gather towards the front collection unit.

[0010] The front collection unit is located at the front end of the feed inlet of the material collection chamber and is used to transport materials to the material collection chamber.

[0011] A conveying unit is connected to the outlet of the material collection chamber and is used to output the material inside the material collection chamber; the conveying unit includes a foldable conveying belt.

[0012] Preferably, when the operation instructions include operation instructions for controlling the robot's movement, step S2 includes:

[0013] Based on the operating status information, it is determined whether the material collection chamber is pressed down. If so, the operation command conforms to the preset interlock rules, and the robot's movement is prohibited.

[0014] Preferably, when the operation instruction includes an operation instruction for controlling the folding of the conveyor belt, step S2 includes:

[0015] Based on the operating status information, it is determined whether the conveyor belt is running or swinging. If so, the operation command conforms to the preset interlocking rules, and folding the conveyor belt is prohibited.

[0016] Preferably, when the operation instruction includes an operation instruction for controlling the conveyor belt to swing along the first swing direction, the second swing direction is the opposite direction to the first swing direction;

[0017] Step S2 includes:

[0018] Based on the operating status information, it is determined whether the conveyor belt is swinging along the second swing direction. If so, the operation command conforms to the preset interlocking rules, and the control of the conveyor belt to swing along the first swing direction is prohibited.

[0019] Preferably, when the operation instruction includes an operation instruction for controlling the robot to travel along the first travel direction, the second travel direction is the direction opposite to the first travel direction;

[0020] Step S2 includes:

[0021] Based on the operating status information, it is determined whether the robot is traveling along the second travel direction. If so, the operation command conforms to the preset interlocking rules, and controlling the robot to travel along the first travel direction is prohibited.

[0022] Preferably, when the first driving direction is to turn left, step S2 includes:

[0023] Based on the operating status information, determine whether the left-side gathering and collecting unit is pressed down. If so, the operation command conforms to the preset interlocking rules, prohibiting the robot from rotating to the left; or

[0024] When the first driving direction is to turn right, step S2 includes:

[0025] Based on the operating status information, it is determined whether the right-side gathering and collecting unit is pressed down. If so, the operation command conforms to the preset interlocking rules, and the robot is prohibited from turning to the right.

[0026] Preferably, the operation instruction includes an operation instruction for controlling the robot to move backward;

[0027] Step S2 includes:

[0028] Based on the operating status information, it is determined whether the side gathering and collecting unit is pressing or pushing the material to the front collecting unit. If so, the operation command conforms to the preset interlocking rules, and the robot is prohibited from retracting.

[0029] Preferably, the robot further includes a milling hub disposed within the material collection cavity, the milling hub being used to throw material to the conveying unit; when the operation command includes an operation command for controlling the milling hub to throw material, step S2 includes:

[0030] Based on the operating status information, it is determined whether the robot is reversing or the conveyor belt is in a folded state. If so, the operation command conforms to the preset interlock rules, and the control of the milling hub to throw materials is prohibited.

[0031] Preferably, when the operation instruction includes an operation instruction for controlling the front collection unit to convey material to the material collection chamber, step S2 includes:

[0032] Based on the operating status information, it is determined whether the robot is reversing or the conveyor belt is in a folded state. If so, the operation command conforms to the preset interlocking rules, and the control of the front collection unit to transport materials to the material collection chamber is prohibited.

[0033] The present invention also constructs a material leakage prevention control system for a nuclear power tunnel cleaning robot. The robot is used to collect materials. The material leakage prevention control system for the nuclear power tunnel cleaning robot includes: a data acquisition module, used to acquire input operation commands and the current operating status information of the robot;

[0034] The data processing module is used to determine whether the operation instruction conforms to the preset interlocking rules based on the running status information; if not, the robot executes the operation corresponding to the operation instruction; if so, the robot is prohibited from executing the operation corresponding to the operation instruction to avoid material leakage caused by abnormal operation of the robot.

[0035] The present invention also constructs an electronic device, including a processor and a memory, wherein the memory is used to store a computer program, and the processor is used to execute the computer program in the memory to implement the leak-proof control method for nuclear power tunnel cleaning robots as described in any of the above.

[0036] The present invention also constructs a computer storage medium storing a computer program thereon, wherein the computer program, when executed by a processor, implements the leak prevention control method for nuclear power tunnel cleaning robots as described in any of the above claims.

[0037] Implementing this invention has the following beneficial effects: when the operation command does not conform to the preset interlocking rules based on the operation status information, the robot executes the operation corresponding to the operation command; when the interlocking rules are met, the robot is prohibited from executing the operation corresponding to the operation command, which can avoid material leakage caused by abnormal robot operation and improve the material collection efficiency. Attached Figure Description

[0038] The present invention will be further described below with reference to the accompanying drawings and embodiments. In the accompanying drawings:

[0039] Figure 1 These are schematic diagrams of the structure of the robot according to some embodiments of the present invention;

[0040] Figure 2 These are schematic diagrams of the material conveying unit of a robot according to some embodiments of the present invention;

[0041] Figure 3 This is a schematic diagram of the logic interlocks of some embodiments of the nuclear power tunnel cleaning robot anti-leakage control method of the present invention. Detailed Implementation

[0042] To provide a clearer understanding of the technical features, objectives, and effects of the present invention, specific embodiments of the present invention will now be described in detail with reference to the accompanying drawings. In the following description, it should be understood that the orientations or positional relationships indicated by terms such as "front," "rear," "upper," "lower," "left," "right," "bottom," "inner," and "outer" are based on the orientations or positional relationships shown in the accompanying drawings, and are constructed and operated in a specific orientation. They are only for the convenience of describing the technical solution and do not indicate that the device or element referred to must have a specific orientation; therefore, they should not be construed as limitations on the present invention.

[0043] It should also be noted that, unless otherwise explicitly specified and limited, terms such as "connection" and "setup" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal connection of two components or the interaction between two components. The terms "first," "second," etc., are only for the convenience of describing this technical solution and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, features defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. For those skilled in the art, the specific meaning of the above terms in this invention can be understood according to the specific circumstances.

[0044] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of the invention. However, those skilled in the art will understand that the invention can be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods are omitted so as not to obscure the description of the invention with unnecessary detail.

[0045] like Figure 1 As shown, the robot in this invention is used to gather and collect materials, thereby cleaning up marine organisms and other materials in tunnels. It includes a walking host 1, a side gathering and collecting unit 2, a front collecting unit 3, and a material conveying unit.

[0046] The walking host 1, which has a material collection chamber inside, is used to drive the robot to move. The walking host 1 is the walking component of the device, providing the robot with operating power and enabling its driving function, providing propulsion, and providing a mounting base.

[0047] A floating side-gathering and collecting unit 2 is connected to both sides of the front collecting unit 3. It includes a left-side gathering and collecting unit and a right-side gathering and collecting unit. The side-gathering and collecting unit 2 is used to push materials to the front collecting unit 3. Optionally, the side-gathering and collecting unit 2 includes a semi-enclosed side-collecting frame extending from the tunnel floor to the inner walls of both sides of the tunnel, and a material-dispensing assembly mounted on the side-collecting frame. A spiral 21 of varying diameter can be used as the material-dispensing assembly, and the rotation of the spiral 21 dispenses materials from the ground to the front collecting unit 3.

[0048] The front collecting unit 3 is located at the front end of the feed inlet of the material collecting chamber 4 and is used to transport materials to the material collecting chamber 4. Optionally, a chain rake is used as the front collecting unit 3. The side gathering collecting unit 2 moves and gathers the materials onto the chain rake, and then transports them from the bottom to the material collecting chamber 4 through the bottom drain and the driving force of the rake plate when the chain rake rotates forward.

[0049] The walking host 1 has a material collection chamber 4 located near the ground for collecting marine organisms. Optionally, the material collection chamber 4 is equipped with a milling hub, and the outer ring of the milling hub is welded with spiral blades and baffles. Through the high-speed rotation of the milling hub, the material entering the material collection chamber 4 is thrown to the conveying unit.

[0050] A conveying unit, connected to the outlet of the material collection chamber 4, is used to output the material inside the material collection chamber 4; the conveying unit includes a foldable conveyor belt. Optional, such as Figure 2 As shown, the material conveying unit includes a primary conveyor belt 51 and a secondary conveyor belt 52. The primary conveyor belt 51 transports materials from the material collection chamber 4 to the secondary conveyor belt 52. The secondary conveyor belt 52 then outputs the materials transported by the primary conveyor belt 51 to external or other conveying equipment. In non-working conditions, the secondary conveyor belt 52 is folded inwards. When needed, the secondary conveyor belt 52 opens outwards, cooperating with the primary conveyor belt 51 to complete the material conveying operation. Depending on the work requirements, the conveyor belts can tilt up and down and swing left and right.

[0051] When the robot is in operation, the main walking unit 1 travels to the centerline of the tunnel and lowers itself to the bottom, touching the tunnel floor. At the same time, the frame is leveled. At this time, the side gathering and collecting unit 2 is at its working height. The floating side gathering and collecting unit 2 presses down on the tunnel wall arc surface under the action of constant force (the action of the built-in side drive component, which can be a drive cylinder). The robot pushes and gathers the material in front under the push of the main walking unit 1. After the material accumulates to a certain height or the material itself is relatively high, the material is pushed to the middle under the thrust of the lateral component force generated by the forward tilt of the side collecting frame. The slightly higher material is moved back and forth from the tail of the side collecting frame to the head by the material feeding component, and is lifted and pulled up during the return stroke to transport the marine organisms on the tunnel side wall to the front collecting unit 3. The material is then transported from the bottom to the rear under the drive of the front collecting unit 3 and enters the material collection chamber 4 of the main walking unit 1. The milling hub inside the material collection chamber 4 rotates at high speed, throwing the material entering the material collection chamber 4 onto the primary conveyor belt 51 of the conveying unit. The primary conveyor belt 51 conveys the material to the secondary conveyor belt 52, and finally the secondary conveyor belt 52 outputs the material to the outside or other conveying equipment.

[0052] In one embodiment of the nuclear power tunnel cleaning robot leak prevention control method of the present invention, the following steps are included:

[0053] S1. Acquire input operation commands and the robot's current operating status information. Specifically, when the robot starts the automatic material receiving mode, it acquires operation commands based on the automatic control of the robot's internal industrial control computer; when the robot starts the manual control material receiving mode, it acquires input operation commands based on the operator's control. Furthermore, by monitoring the working status of each working unit of the robot, the current operating status information of each working unit can be obtained.

[0054] S2. Determine whether the operation command conforms to the preset interlock rules based on the running status information; if not, the robot will execute the operation corresponding to the operation command; if so, the robot will be prohibited from executing the operation corresponding to the operation command in order to avoid material leakage caused by abnormal robot operation.

[0055] Specifically, efficient material collection requires the coordinated operation of all robot components. To ensure this coordination, the design is based on the function, structural characteristics, and operational safety of each component, as follows: Figure 3 The logical interlocking relationships shown further form interlocking rules. Figure 3 In the diagram, "×" indicates that two operations in the corresponding row and column are prohibited from being executed simultaneously, "√" indicates that two operations in the corresponding row and column are allowed to be executed simultaneously, and " / " indicates none. The operation corresponding to the input command is compared with all operations currently being performed by the robot. If no interlocking relationship exists, the robot can execute the operation corresponding to the command; if an interlocking relationship exists, the operation corresponding to the command is prohibited from execution to prevent abnormal operation, ensure coordinated operation of all components and equipment safety, thereby avoiding material leakage and improving material collection efficiency. Furthermore, when an interlocking relationship is detected, a prompt signal can be output to alert the operator.

[0056] In an optional embodiment, when the operation command includes an operation command for controlling the robot's movement, step S2 includes: determining whether the material collection chamber is pressed down based on the operating status information; if so, the operation command conforms to a preset interlock rule, and controlling the robot's movement is prohibited. Specifically, the material collection chamber is located at the bottom of the walking host, close to the ground. When the material collection chamber is pressed down, controlling the robot to move forward, backward, turn left, or turn right will cause the material collection chamber to rub against the ground, resulting in damage. Therefore, the preset interlock rule includes: when the material collection chamber is pressed down, controlling the robot's movement is prohibited.

[0057] In an optional embodiment, when the operation command includes an operation command for controlling the folding of the conveyor belt, step S2 includes: determining whether the conveyor belt is running or oscillating based on the operating status information; if so, the operation command conforms to a preset interlock rule, and folding the conveyor belt is prohibited. Specifically, the conveyor belt transports materials through running and oscillating. The material conveying unit requires the cooperation of a primary conveyor belt and a secondary conveyor belt to perform material transport. If the secondary conveyor belt is controlled to fold inward while the conveyor belt is running or oscillating, the secondary conveyor belt cannot receive the material on the primary conveyor belt, which will lead to material leakage. Therefore, the preset interlock rule includes: when the conveyor belt is running or oscillating, controlling the folding of the conveyor belt is prohibited.

[0058] In an optional embodiment, when the operation instruction includes an operation instruction for controlling the conveyor belt to swing along the first swing direction, the second swing direction is the opposite direction to the first swing direction; step S2 includes: determining whether the conveyor belt is swinging along the second swing direction based on the operating status information; if so, the operation instruction conforms to the preset interlock rules, and controlling the conveyor belt to swing along the first swing direction is prohibited. Specifically, the conveyor belt can pitch up and down and swing left and right as needed. When the conveyor belt is swinging along the first swing direction, if it is controlled to swing along the opposite second swing direction, there will be a logical conflict, which may damage the conveyor belt and cause material leakage, or even cause the robot to malfunction. The preset interlock rules include: when the conveyor belt swings upward, controlling the conveyor belt to swing downward is prohibited; when the conveyor belt swings left, controlling the conveyor belt to swing right is prohibited.

[0059] In an optional embodiment, when the operation instruction includes an operation instruction for controlling the robot to travel along a first travel direction, the second travel direction is the opposite direction to the first travel direction; step S2 includes: determining whether the robot is traveling along the second travel direction based on the operating status information. If so, the operation instruction conforms to a preset interlocking rule, and controlling the robot to travel along the first travel direction is prohibited. Specifically, the robot's movement can be controlled by controlling the walking host. When the robot is traveling along the first travel direction, if it is controlled to travel along the opposite second travel direction, there will be a logical conflict, which may even lead to robot malfunction. When the first travel direction is forward, the second travel direction is backward; when the first travel direction is turning left, the second travel direction is turning right. The preset interlocking rule includes: when the robot turns left, controlling the robot to turn right is prohibited; when the robot is moving forward, controlling the robot to move backward is prohibited.

[0060] In one optional embodiment, when the first travel direction is to turn left, step S2 includes: determining whether the left-side gathering and collecting unit is pressed down based on the operating status information; if so, the operation command conforms to the preset interlocking rules, and controlling the robot to turn left is prohibited. Alternatively, in another optional embodiment, when the first travel direction is to turn right, step S2 includes: determining whether the right-side gathering and collecting unit is pressed down based on the operating status information; if so, the operation command conforms to the preset interlocking rules, and controlling the robot to turn right is prohibited.

[0061] Specifically, when the left-side collecting unit presses down, it adheres to the tunnel wall and exerts pressure. Once this pressure exceeds a certain threshold, it enters a compressed state. If the robot continues to rotate to the left, the pressure will become too high, damaging the left-side collecting unit and preventing it from properly pushing the material, resulting in leakage. Similarly, when the right-side collecting unit presses down, it adheres to the tunnel wall and exerts pressure. Once this pressure exceeds a certain threshold, it enters a compressed state. If the robot continues to rotate to the right, the pressure will become too high, damaging the right-side collecting unit and preventing it from properly pushing the material, resulting in leakage. Therefore, the preset interlocking rules include: when the left-side collecting unit is compressed, the robot is prohibited from rotating to the left; when the right-side collecting unit is compressed, the robot is prohibited from rotating to the right.

[0062] In an optional embodiment, when the operation command includes an operation command to control the robot to retreat; step S2 includes: determining, based on the operating status information, whether the side-gathering and collecting unit is pressing or pushing material to the front collecting unit; if so, the operation command conforms to the preset interlocking rules, prohibiting the robot from retreating. Specifically, when the side-gathering and collecting unit is pressing, controlling the robot to retreat will cause friction between the side-gathering and collecting unit and the tunnel sidewall, damaging the side-gathering and collecting unit. When the side-gathering and collecting unit is performing material feeding, the spiral of different diameters feeds the material to the front collecting unit by rotating in the forward direction; if the robot is controlled to retreat, some material will be carried away, resulting in material leakage. Therefore, the preset interlocking rules include: prohibiting the robot from retreating when the side-gathering and collecting unit is pressing or when the spiral is rotating in the forward direction.

[0063] In an optional embodiment, when the operation instruction includes an operation instruction for controlling the milling hub to throw material, step S2 includes: determining whether the robot is reversing or the conveyor belt is folded based on the operating status information. If so, the operation instruction conforms to a preset interlock rule, and controlling the milling hub to throw material is prohibited. Specifically, when the conveyor belt is folded, it is in a non-working state. If the milling hub continues to be controlled to rotate forward to throw material onto the conveyor belt, the material will accumulate on the conveyor belt and cannot be delivered in time, resulting in material leakage. In addition, according to design requirements, material collection is not performed when the robot is reversing; therefore, controlling the milling hub to throw material is also not allowed. The preset interlock rule includes: controlling the milling hub to throw material is prohibited when the conveyor belt is folded or when the robot is reversing.

[0064] In an optional embodiment, when the operation instruction includes an operation instruction for controlling the front collection unit to convey material to the material collection chamber, step S2 includes: determining whether the robot is reversing or the conveyor belt is folded based on the operating status information. If so, the operation instruction conforms to the preset interlock rules, and controlling the front collection unit to convey material to the material collection chamber is prohibited. Specifically, according to design requirements, material collection-related work is not performed when the robot is reversing, therefore, controlling the front collection unit to convey material to the material collection chamber is not allowed. When the conveyor belt is folded, it is in a non-working state, and controlling the milling hub to throw material is prohibited. If the chain rake of the front collection unit continues to rotate forward to convey material to the material collection chamber, a large amount of material will accumulate in the material collection chamber, which may affect the subsequent work of the milling hub. The preset interlock rules include: when the conveyor belt is folded or when the robot is reversing, the front collection unit is prohibited from rotating forward.

[0065] The nuclear power tunnel cleaning robot anti-leakage control system of the present invention can be used to execute the nuclear power tunnel cleaning robot anti-leakage control method of any of the above embodiments.

[0066] In one embodiment of the nuclear power tunnel cleaning robot anti-leakage control system of the present invention, the system includes:

[0067] The data acquisition module is used to acquire input operation commands and the robot's current operating status information. Specifically, when the robot starts the automatic material receiving mode, the data acquisition module acquires operation commands based on the automatic control of the robot's internal industrial control computer; when the robot starts the manual control material receiving mode, the data acquisition module acquires input operation commands based on the operator's control. Furthermore, by monitoring the working status of each working unit of the robot, the data acquisition module can obtain the current operating status information of each working unit.

[0068] The data processing module is used to determine whether the operation command conforms to the preset interlock rules based on the running status information; if not, the robot executes the operation corresponding to the operation command; if so, the robot is prohibited from executing the operation corresponding to the operation command to avoid material leakage caused by abnormal robot operation.

[0069] Specifically, the data processing module compares the input operation command with all operations currently being performed by the robot. If no interlocking relationship exists, the robot can execute the operation corresponding to the input command. If an interlocking relationship exists, the robot is prohibited from executing the operation corresponding to the input command to prevent abnormal operation, ensure coordinated operation of all components and equipment safety, and thus avoid material leakage. Furthermore, when an interlocking relationship is detected, the data processing module can also output a prompt signal to alert the operator.

[0070] In an optional embodiment, when the operation command includes an operation command for controlling the robot's movement, the data processing module determines whether the material collection chamber is pressed down based on the operating status information. If so, the operation command conforms to a preset interlock rule, and controlling the robot's movement is prohibited. Specifically, the material collection chamber is located at the bottom of the walking host, close to the ground. When the material collection chamber is pressed down, controlling the robot to move forward, backward, turn left, or turn right will cause the material collection chamber to rub against the ground, resulting in damage. Therefore, the preset interlock rule includes: when the material collection chamber is pressed down, controlling the robot's movement is prohibited.

[0071] In an optional embodiment, when the operation command includes an operation command for controlling the folding of the conveyor belt, the data processing module determines whether the conveyor belt is running or oscillating based on the operating status information. If so, the operation command conforms to the preset interlock rules, and folding the conveyor belt is prohibited. Specifically, the conveyor belt transports materials through running and oscillating. The material conveying unit requires the cooperation of a primary conveyor belt and a secondary conveyor belt to perform material transport. If the secondary conveyor belt is controlled to fold inward while the conveyor belt is running or oscillating, the secondary conveyor belt cannot receive the material on the primary conveyor belt, which will lead to material leakage. Therefore, the preset interlock rules include: when the conveyor belt is running or oscillating, controlling the folding of the conveyor belt is prohibited.

[0072] In an optional embodiment, when the operation instruction includes an operation instruction for controlling the conveyor belt to swing along a first swing direction, the second swing direction is the opposite direction to the first swing direction. The data processing module is used to determine whether the conveyor belt is swinging along the second swing direction based on the operating status information. If so, the operation instruction conforms to the preset interlock rules, and controlling the conveyor belt to swing along the first swing direction is prohibited. Specifically, the conveyor belt can pitch up and down and swing left and right as needed. When the conveyor belt is swinging along the first swing direction, if it is controlled to swing along the opposite second swing direction, there will be a logical conflict, which may damage the conveyor belt and cause material leakage, or even cause the robot to malfunction. The preset interlock rules include: when the conveyor belt swings upward, controlling the conveyor belt to swing downward is prohibited; when the conveyor belt swings to the left, controlling the conveyor belt to swing to the right is prohibited.

[0073] In one optional embodiment, when the operation instruction includes an instruction to control the robot to travel along a first travel direction, the second travel direction is the opposite direction to the first travel direction. The data processing module is used to determine whether the robot is traveling along the second travel direction based on the operating status information. If so, the operation instruction conforms to a preset interlocking rule, prohibiting the robot from traveling along the first travel direction. Specifically, the robot's movement can be controlled by controlling the walking host. When the robot is traveling along the first travel direction, controlling it to travel along the opposite second travel direction would create a logical conflict and could even lead to robot malfunction. When the first travel direction is forward, the second travel direction is backward; when the first travel direction is a left turn, the second travel direction is a right turn. The preset interlocking rules include: when the robot turns left, controlling the robot to turn right is prohibited; when the robot is moving forward, controlling the robot to move backward is prohibited.

[0074] In one optional embodiment, when the first travel direction is leftward, the data processing module determines whether the left-side gathering and collecting unit is pressed down based on the operating status information. If so, the operation command conforms to the preset interlocking rules, and controlling the robot to turn left is prohibited. Alternatively, in another optional embodiment, when the first travel direction is rightward, step S2 includes: determining whether the right-side gathering and collecting unit is pressed down based on the operating status information. If so, the operation command conforms to the preset interlocking rules, and controlling the robot to turn right is prohibited.

[0075] Specifically, when the left-side collecting unit presses down, it adheres to the tunnel wall and exerts pressure. Once this pressure exceeds a certain threshold, it enters a compressed state. If the robot continues to rotate to the left, the pressure will become too high, damaging the left-side collecting unit and preventing it from properly pushing the material, resulting in leakage. Similarly, when the right-side collecting unit presses down, it adheres to the tunnel wall and exerts pressure. Once this pressure exceeds a certain threshold, it enters a compressed state. If the robot continues to rotate to the right, the pressure will become too high, damaging the right-side collecting unit and preventing it from properly pushing the material, resulting in leakage. Therefore, the preset interlocking rules include: when the left-side collecting unit is compressed, the robot is prohibited from rotating to the left; when the right-side collecting unit is compressed, the robot is prohibited from rotating to the right.

[0076] In an optional embodiment, when the operation command includes an operation command to control the robot to retreat, the data processing module is used to determine whether the side-gathering and collecting unit is pressing or pushing material to the front collecting unit based on the operating status information. If so, the operation command conforms to the preset interlocking rules, and controlling the robot to retreat is prohibited. Specifically, when the side-gathering and collecting unit is pressing, controlling the robot to retreat will cause the side-gathering and collecting unit to rub against the tunnel sidewall, damaging the side-gathering and collecting unit. When the side-gathering and collecting unit is performing material feeding, the spiral 21 of different diameters feeds the material to the front collecting unit by rotating in the forward direction. If the robot is controlled to retreat, some material will be carried away, resulting in material leakage. Therefore, the preset interlocking rules include: when the side-gathering and collecting unit is pressing or when the spiral 21 is rotating in the forward direction, controlling the robot to retreat is prohibited.

[0077] In an optional embodiment, when the operation instruction includes an operation instruction for controlling the milling hub to throw material, the data processing module determines whether the robot is reversing or the conveyor belt is folded based on the operating status information. If so, the operation instruction conforms to the preset interlock rules, and controlling the milling hub to throw material is prohibited. Specifically, when the conveyor belt is folded, it is in a non-working state. If the milling hub continues to be controlled to rotate forward to throw material onto the conveyor belt, the material will accumulate on the conveyor belt and cannot be delivered in time, resulting in material leakage. In addition, according to design requirements, material collection is not performed when the robot is reversing; therefore, controlling the milling hub to throw material is also not allowed. The preset interlock rules include: controlling the milling hub to throw material is prohibited when the conveyor belt is folded or when the robot is reversing.

[0078] In an optional embodiment, when the operation instruction includes an instruction to control the front collection unit to convey material to the material collection chamber, the data processing module determines whether the robot is reversing or the conveyor belt is folded based on the operating status information. If so, the operation instruction conforms to a preset interlock rule, prohibiting the control of the front collection unit to convey material to the material collection chamber. Specifically, according to design requirements, material collection-related work is not performed when the robot is reversing, therefore, the control of the front collection unit to convey material to the material collection chamber is not allowed. When the conveyor belt is folded, it is in a non-working state, prohibiting the control of the milling hub to throw material. If the chain rake of the front collection unit continues to rotate forward to convey material to the material collection chamber, a large amount of material will accumulate in the material collection chamber, which may affect the subsequent work of the milling hub. The preset interlock rule includes: prohibiting the front collection unit from rotating forward when the conveyor belt is folded or when the robot is reversing.

[0079] The present invention also provides an electronic device, including a processor and a memory. The memory stores a computer program, and the processor executes the computer program in the memory to implement the leak-proof control method for a nuclear power tunnel cleaning robot according to any of the above embodiments. Specifically, according to embodiments of the present invention, the processes described above can be implemented as computer software programs. For example, embodiments of the present invention include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for performing the methods shown in the flowchart. In such embodiments, when the computer program is downloaded, installed, and executed by an electronic device, it performs the functions defined in the methods of the embodiments of the present invention. The electronic device in the present invention can be a terminal such as a laptop, desktop computer, tablet computer, or smartphone, or it can be a server.

[0080] Furthermore, this invention provides a computer storage medium storing a computer program, which, when executed by a processor, implements the nuclear power tunnel cleaning robot leak prevention control method of any of the above embodiments. Specifically, it should be noted that the computer-readable medium described above can be a computer-readable signal medium or a computer-readable storage medium, or any combination of the two. The computer-readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of a computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this invention, the computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device. In this invention, a computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, carrying computer-readable program code. This propagated data signal may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. The computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium, capable of transmitting, propagating, or transmitting a program for use by or in conjunction with an instruction execution system, apparatus, or device. The program code contained on the computer-readable medium may be transmitted using any suitable medium, including but not limited to: wires, optical fibers, RF (radio frequency), etc., or any suitable combination thereof.

[0081] The aforementioned computer-readable medium may be included in the aforementioned electronic device; or it may exist independently and not assembled into the electronic device.

[0082] It is understood that the above embodiments only illustrate some implementation methods of the present invention, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the present invention. It should be noted that for those skilled in the art, the above technical features can be freely combined, and several modifications and improvements can be made without departing from the concept of the present invention, all of which fall within the protection scope of the present invention. Therefore, all equivalent transformations and modifications made with respect to the scope of the claims of the present invention should fall within the scope of the claims of the present invention.

Claims

1. A method for preventing material leakage in a nuclear power plant tunnel cleaning robot, characterized in that, The robot is used to gather and collect materials; the method includes the following steps: S1. Obtain the input operation command and the current operating status information of the robot; S2. Determine whether the operation command conforms to the preset interlocking rules based on the operation status information; if not, the robot executes the operation corresponding to the operation command; if yes, the robot is prohibited from executing the operation corresponding to the operation command to avoid material leakage caused by abnormal operation of the robot. The robot includes A walking host with a material collection chamber inside is used to drive the robot to move; A floating side-gathering collection unit connected to both sides of the front collection unit includes a left-side gathering collection unit and a right-side gathering collection unit. The side-gathering collection unit is used to push the material to gather towards the front collection unit. The front collection unit is located at the front end of the feed inlet of the material collection chamber and is used to transport materials to the material collection chamber. A conveying unit is connected to the outlet of the material collection chamber and is used to output the material inside the material collection chamber; the conveying unit includes a foldable conveying belt.

2. The method for preventing material leakage in a nuclear power plant tunnel cleaning robot according to claim 1, characterized in that, When the operation instructions include operation instructions for controlling the robot's movement, step S2 includes: Based on the operating status information, it is determined whether the material collection chamber is pressed down. If so, the operation command conforms to the preset interlock rules, and the robot's movement is prohibited.

3. The method for preventing material leakage in a nuclear power plant tunnel cleaning robot according to claim 1, characterized in that, When the operation instruction includes an operation instruction for controlling the folding of the conveyor belt, step S2 includes: Based on the operating status information, it is determined whether the conveyor belt is running or swinging. If so, the operation command conforms to the preset interlocking rules, and folding the conveyor belt is prohibited.

4. The method for preventing material leakage in a nuclear power plant tunnel cleaning robot according to claim 3, characterized in that, When the operation instruction includes an operation instruction for controlling the conveyor belt to swing along the first swing direction, the second swing direction is the direction opposite to the first swing direction; Step S2 includes: Based on the operating status information, it is determined whether the conveyor belt is swinging along the second swing direction. If so, the operation command conforms to the preset interlocking rules, and the control of the conveyor belt to swing along the first swing direction is prohibited.

5. The method for preventing material leakage in a nuclear power plant tunnel cleaning robot according to claim 1, characterized in that, When the operation instruction includes an operation instruction for controlling the robot to travel along the first travel direction, the second travel direction is the direction opposite to the first travel direction; Step S2 includes: Based on the operating status information, it is determined whether the robot is traveling along the second travel direction. If so, the operation command conforms to the preset interlocking rules, and controlling the robot to travel along the first travel direction is prohibited.

6. The method for preventing material leakage in a nuclear power plant tunnel cleaning robot according to claim 5, characterized in that, When the first driving direction is to turn left, step S2 includes: Based on the operating status information, determine whether the left-side gathering and collecting unit is pressed down. If so, the operation command conforms to the preset interlocking rules, prohibiting the robot from rotating to the left; or When the first driving direction is to turn right, step S2 includes: Based on the operating status information, it is determined whether the right-side gathering and collecting unit is pressed tightly. If so, the operation command conforms to the preset interlocking rules, and the robot is prohibited from turning to the right.

7. The method for preventing material leakage in a nuclear power plant tunnel cleaning robot according to claim 1, characterized in that, When the operation instruction includes an operation instruction for controlling the robot to move backward; Step S2 includes: Based on the operating status information, it is determined whether the side gathering and collecting unit is pressing or pushing the material to the front collecting unit. If so, the operation command conforms to the preset interlocking rules, and the robot is prohibited from retracting.

8. The method for preventing material leakage in a nuclear power plant tunnel cleaning robot according to claim 1, characterized in that, The robot also includes a milling hub internally disposed in the material collection cavity, the milling hub being used to throw material to the conveying unit; when the operation command includes an operation command for controlling the milling hub to throw material, step S2 includes: Based on the operating status information, it is determined whether the robot is reversing or the conveyor belt is in a folded state. If so, the operation command conforms to the preset interlock rules, and the control of the milling hub to throw materials is prohibited.

9. The method for preventing material leakage in a nuclear power plant tunnel cleaning robot according to claim 8, characterized in that, When the operation instruction includes an operation instruction for controlling the front collection unit to convey material to the material collection chamber, step S2 includes: Based on the operating status information, it is determined whether the robot is reversing or the conveyor belt is in a folded state. If so, the operation command conforms to the preset interlocking rules, and the control of the front collection unit to transport materials to the material collection chamber is prohibited.

10. A leak-proof control system for a nuclear power plant tunnel cleaning robot, characterized in that, The robot is used to gather and collect materials. The leak-proof control system for the nuclear power tunnel cleaning robot includes: The data acquisition module is used to acquire the input operation commands and the current operating status information of the robot; The data processing module is used to determine whether the operation instruction conforms to the preset interlocking rules based on the running status information; if not, the robot executes the operation corresponding to the operation instruction; if so, the robot is prohibited from executing the operation corresponding to the operation instruction to avoid material leakage caused by abnormal operation of the robot. The robot includes A walking host with a material collection chamber inside is used to drive the robot to move; A floating side-gathering collection unit connected to both sides of the front collection unit includes a left-side gathering collection unit and a right-side gathering collection unit. The side-gathering collection unit is used to push the material to gather towards the front collection unit. The front collection unit is located at the front end of the feed inlet of the material collection chamber and is used to transport materials to the material collection chamber. A conveying unit is connected to the outlet of the material collection chamber and is used to output the material inside the material collection chamber; the conveying unit includes a foldable conveying belt.

11. An electronic device, characterized in that, It includes a processor and a memory, the memory being used to store a computer program, and the processor being used to execute the computer program in the memory to implement the leak-proof control method for a nuclear power tunnel cleaning robot as described in any one of claims 1-9.

12. A computer storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the leak prevention control method for nuclear power tunnel cleaning robots as described in any one of claims 1-9.

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