A cleaning device based on a nuclear power plant steam generator and a control method thereof

Abstract

The application discloses a kind of based on nuclear power plant steam generator's cleaning equipment and its control method, cleaning equipment includes remote control device, local control device, water loop device and cleaning drive device, remote control device is communicated with local control device by remote control communication cable;Remote control communication cable includes field communication bus and network cable;Remote control device includes host computer, main controller and ethernet switch, and ethernet switch is connected with water loop device to carry out ethernet communication;Local control device includes control substation, audio and video transmission substation and motor drive module, control substation and motor drive module are communicated with main controller by field communication bus, and audio and video transmission substation is connected with ethernet switch by network cable.The cleaning equipment and its control method provided by the application greatly simplify the internal structure of remote control communication cable, reduce the volume and weight, reduce the overall radiation exposure dose during installation of staff.

Description

Technical Field

[0001] This invention relates to the field of cleaning equipment control technology for nuclear power plant steam generators, and particularly to a cleaning equipment and control method based on a nuclear power plant steam generator. Background Technology

[0002] The steam generator is one of the most critical main pieces of equipment in a nuclear power plant. Its safe operation is crucial to the overall safety of the plant and the operation of the evaporator itself. Therefore, its secondary side must be cleaned regularly using specialized cleaning equipment. Generally, nuclear power plant steam generator secondary side cleaning equipment consists of a remote control device, a water circuit device, a local control device, and a cleaning drive device. Existing technology has the following problems:

[0003] (1) Remote control devices are equipped with a large number of independent modules (image processing, voice communication, motion control, image display and human-computer interaction, etc.) due to functional requirements. They are bulky and difficult to transport on-site. Flexible arrangement in limited space is difficult and the physical installation and connection of the equipment is complicated.

[0004] (2) Due to the diverse types of signals (including analog video signals, voice signals, communication lines, safety circuits, DC power supplies, etc.) in remote control communication cables between remote control devices and local control devices, multi-core non-standard customized composite cables are used. This results in excessively heavy cables, high installation difficulty, high labor intensity for workers, and increased radiation dose due to prolonged working hours in high-radiation areas of nuclear power plants. Existing remote control communication cables typically include the following cores: field communication bus (3-4 cores), voice device power supply and transmission lines (4 cores), DC servo power cores (2 cores), video device power supply and transmission lines (4 cores), safety control emergency stop circuit (2 cores), and redundant cores (4 cores). The large number of cores in remote control communication cables, requiring internal shielding layers, results in thicker cables, greater weight, inconvenient installation, and the need for non-standard customized connectors.

[0005] Existing long-distance non-standard customized cables suffer from significant DC power supply voltage drop, signal interference, and high bit error rates during use. Once a non-standard customized cable is damaged or accidentally contaminated by radiation, it is difficult to locate the fault on-site, and thus difficult to repair or replace it.

[0006] (3) The local control device is equipped with wired voice communication and video acquisition independent devices. A large number of additional communication lines need to be laid in high radiation areas, which limits the working range, increases the workload and radiation dose of personnel, and the related module circuits have low integration, resulting in a high failure rate in high humidity environments. The noise and howling phenomenon during calls are obvious, affecting work efficiency.

[0007] The above background information is provided only to assist in understanding the inventive concept and technical solution of this invention. It does not necessarily belong to the prior art of this patent application, nor does it necessarily provide technical teaching. In the absence of clear evidence that the above information was disclosed before the filing date of this patent application, the above background information should not be used to evaluate the novelty and inventiveness of this application. Summary of the Invention

[0008] To overcome the shortcomings of existing technologies, this invention provides a cleaning device and its control method based on a nuclear power plant steam generator. The specific technical solution is as follows:

[0009] On the one hand, a cleaning device based on a nuclear power plant steam generator is provided, including a remote control device, a local control device, a water circuit device, and a cleaning drive device. The remote control device and the water circuit device are located in a radiation safety area, and the local control device and the cleaning drive device are located in a radiation hazard area. The remote control device communicates with the local control device through a remote control communication cable. The remote control communication cable includes a field communication bus and a network cable.

[0010] The remote control device includes a remote power supply module, a host computer, a main controller, and an Ethernet switch. The remote power supply module is used to supply power to the host computer, the main controller, and the Ethernet switch. The host computer, the Ethernet switch, and the main controller are connected in sequence and can perform Ethernet communication. The Ethernet switch is also connected to the water loop device for Ethernet communication, so that the water loop device is controlled by the remote control device to supply water to the cleaning drive device and perform wastewater recycling treatment.

[0011] The local control device includes a local power supply module, a control substation, an audio-visual transmission substation, and a motor drive module. The local power supply module supplies power to the control substation, audio-visual transmission substation, and motor drive module. Both the control substation and the motor drive module communicate with the main controller via the field communication bus. The control substation controls the water pressure of the cleaning drive device, and the motor drive module is configured to control the rotation of the motor of the cleaning drive device. The audio-visual transmission substation is connected to the Ethernet switch via the network cable and is used to convert audio and video signals collected around the cleaning location into Ethernet signals and output them to the remote control device.

[0012] Furthermore, the remote control device is equipped with a remote safety loop, which actively triggers safety protection in the event of an abnormality in the remote control device. The local control device is equipped with a local safety loop, which actively triggers safety protection in the event of an abnormality in the local control device. The remote safety loop and the local safety loop are associated through the field communication bus to synchronously trigger safety protection. The abnormal situations include loss of signal and power failure.

[0013] Furthermore, the remote power supply module includes an AC power module and a first DC power module. The AC power module receives an input from an external AC power source to power the first DC power module and the host computer. The first DC power module powers the main controller and the Ethernet switch.

[0014] The local power supply module is a second DC power supply module, which receives input from another external AC power source to power the control substation, audio-visual transmission substation, and motor drive module.

[0015] Furthermore, the remote control device is equipped with a safety stop device, which is used to trigger the remote safety circuit for safety protection in an emergency.

[0016] Furthermore, the local control device also includes a pneumatic module, which is a combination of solenoid valves, and the control substation adjusts the water pressure of the cleaning drive device through the pneumatic module.

[0017] On the other hand, a control method based on a nuclear power plant steam generator cleaning device is provided, including the following steps:

[0018] The video and audio signals collected around the cleaning drive unit are converted into Ethernet signals on-site and transmitted to a remote control device in the remote control room via a network cable. The cleaning drive unit is directly controlled by the on-site control device.

[0019] Based on the feedback video and voice signals, the remote control device coordinates and controls the cleaning drive device and the water circuit device. The remote control device outputs cleaning control commands to the local control device through the field communication bus to remotely regulate the cleaning drive device. The remote control device controls the water circuit device through Ethernet to supply water to the cleaning drive device and recycle the cleaned water.

[0020] Furthermore, the remote control device is equipped with a remote safety circuit, which actively triggers safety protection in the event of an abnormality in the remote control device. The local control device is equipped with a local safety circuit, which actively triggers safety protection in the event of an abnormality in the local control device. The abnormalities include loss of signal and power failure. When either the remote safety circuit or the local safety circuit triggers safety protection, the other circuit will also trigger safety protection accordingly.

[0021] Furthermore, based on the feedback video and voice signals, remote personnel in the control room communicate with on-site personnel via Ethernet to assist in the accurate installation of the local control device and cleaning drive device. After installation, on-site personnel evacuate to the radiation safety zone to stand by.

[0022] Furthermore, remote staff can set cleaning parameters and issue instructions through the host computer in the remote control device, and control the local control device via the field communication bus to drive the cleaning drive device for automatic cleaning. At the same time, the working status of the cleaning drive device can be observed in real time through image monitoring. If manual adjustment is required on-site, communication can be made with on-site standby personnel via wired voice.

[0023] Furthermore, the field communication bus and network cable are integrated into a single cable, which is laid according to the predetermined cleaning location. After the cleaning task is completed, the cable needs to be retrieved.

[0024] Compared with the prior art, the present invention has the following advantages: by optimizing the control circuit, the internal structure of the remote control communication cable is greatly simplified, the volume and weight are reduced, and the overall radiation dose received by the staff during installation is reduced. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the remote control device structure in a cleaning equipment based on a nuclear power plant steam generator, provided in an embodiment of the present invention.

[0026] Figure 2 This is a schematic diagram of the structural framework of the local control device in the cleaning equipment based on the steam generator of a nuclear power plant provided in an embodiment of the present invention;

[0027] Figure 3 This is a schematic diagram of Ethernet communication connection in a cleaning device based on a nuclear power plant steam generator provided in an embodiment of the present invention;

[0028] Figure 4 This is a schematic diagram of fieldbus communication connection in a cleaning device based on a nuclear power plant steam generator provided in an embodiment of the present invention;

[0029] Figure 5This is a schematic diagram of the pneumatic module connection in a cleaning device based on a nuclear power plant steam generator provided in an embodiment of the present invention;

[0030] Figure 6 This is a schematic diagram of the connection of the safety stop device in the cleaning equipment based on the steam generator of a nuclear power plant provided in an embodiment of the present invention. Detailed Implementation

[0031] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0032] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion.

[0033] In one embodiment of the present invention, a cleaning device based on a nuclear power plant steam generator is provided, including a remote control device, a local control device, a water loop device, and a cleaning drive device. The remote control device and the water loop device are located in a radiation safety zone, i.e., a designated low-radiation zone, while the local control device and the cleaning drive device are located in a radiation hazard zone, i.e., a designated high-radiation zone. The remote control device communicates with the local control device via a remote control communication cable. The remote control communication cable includes a field communication bus and a network cable. The field communication bus can be a CAN bus. Specifically, the field communication bus and the network cable are integrated into an 8-core Category 6 double-shielded network cable, which simultaneously transmits Ethernet and CAN bus communication signals to realize local equipment control and status monitoring, and transmits audio and video signals to the remote control device to realize real-time audio and video monitoring and full-duplex communication for personnel.

[0034] The remote control device includes a first housing, a remote power supply module, a host computer, a main controller, and an Ethernet switch. The first housing is a rack-mount chassis used to house other components of the integrated remote control device. The remote power supply module provides power to the host computer, the main controller, and the Ethernet switch. (See also...) Figure 1The remote power supply module includes an AC power module and a first DC power module. The AC power module is used for safety grounding, overcurrent protection, and power distribution. It receives an external AC power input (e.g., an AC outlet in the control room) to power the first DC power module and the host computer. The first DC power module is an AC-DC switching power supply that powers the main controller and the Ethernet switch. The main controller has a PLC, which includes a power module, a CPU module, and discrete I / O modules. The Ethernet switch is an unmanaged industrial switch, and the host computer is a portable computer. The host computer, Ethernet switch, and main controller are connected sequentially and can perform Ethernet communication. See [link to relevant documentation]. Figure 3 The Ethernet switch is also connected to the water loop device for Ethernet communication, so that the water loop device is controlled by the remote control device to supply water to the cleaning drive device and perform wastewater recycling treatment.

[0035] The local control device includes a second housing, a local power supply module, a control substation, a pneumatic module, an audio / video transmission substation, and a motor drive module. The second housing is a flip-top safety box used to house other components of the integrated local control device. The control substation is equipped with a distributed I / O module and is capable of CAN bus communication. The local power supply module supplies power to the control substation, audio / video transmission substation, and motor drive module. The local power supply module is a second DC power supply module, which is an AC-DC switching power supply. See [link to relevant documentation]. Figure 2 The second DC power module receives input from another external AC power source (e.g., an AC power outlet pre-installed in a radiation hazard area) to power the control substation, audio-visual transmission substation, and motor drive module. See also... Figure 4 Both the control substation and the motor drive module communicate with the main controller via the field communication bus. (See [link]). Figure 5 The control substation controls the water pressure of the cleaning drive device through a pneumatic module, which is a combination of solenoid valves controlled by the output signal of the control substation. Its working air pressure is 2-8 bar. The motor drive module is a brushless DC motor driver that supports high-speed CAN bus communication and is used to control the rotation of the servo motor of the cleaning drive device. The motor drive module is placed at the local end in the high-irradiation area, and its power source is adjusted to the local location. A terminating resistor is matched between the CAN_H / CAN_L wire cores to reduce signal reflection. The CAN bus communication rate is matched to 125kbps to reduce the bit error rate and reduce the number of wire cores required.

[0036] See Figure 3The audio-visual transmission substation is connected to the Ethernet switch via the network cable. It is an audio-visual streaming device that uses a built-in audio-visual transmission board to convert audio and video signals collected around the cleaning location into Ethernet signals and output them to a remote control device. The audio-visual transmission board is a miniature embedded board. The audio and video signals enter the WebRTC-based audio-visual transmission substation through the local control device in the high-radiation area. The use of Ethernet connections instead of analog signals enables end-to-end real-time audio and video communication, reducing the number of wires required.

[0037] Specifically, the host computer is a laptop computer that, via Ethernet and fieldcombus, can accept specific instructions input by operators in low-radiation areas and display them on the human-machine interface. It can also send control instructions to the main controller and water circuit devices, and simultaneously receive status information feedback from all devices (such as liquid level, temperature, pressure, flow rate, valve status, etc.) and display it through the human-machine interface. The host computer can transmit audio and video signals with the local control device, enabling real-time audio and video monitoring and full-duplex communication between personnel. In the remote control device, the PLC of the main controller stores the control programs for the local control device and the cleaning drive device. The main controller receives instructions from the host computer and controls the subsequent equipment accordingly through the control programs, transmitting the status information of the local control device and the cleaning drive device to the host computer. The host computer, through the main controller, controls the control substation within the local control device to output control signals from the pneumatic module and acquire status information, and also controls the motor drive module within the local control device to output corresponding signals and acquire status information. The local control device is connected to the remote control device and to the cleaning drive device through a designated connector. The local control device receives control signals and the control substation controls the pneumatic module to move according to the set logic, thereby controlling the movement of the pneumatic components in the cleaning drive device and adjusting the cleaning water pressure. The motor drive module controls the rotation of the motor in the cleaning drive device according to the set logic, thereby controlling the direction of water jet.

[0038] In one embodiment of the present invention, the remote control device is equipped with a remote safety circuit, which actively triggers safety protection in the event of an anomaly in the remote control device. The local control device is equipped with a local safety circuit, which actively triggers safety protection in the event of an anomaly in the local control device. The remote safety circuit and the local safety circuit are associated through the field communication bus to synchronously trigger safety protection. When either the remote safety circuit or the local safety circuit triggers safety protection, the other will also trigger safety protection accordingly. Actively triggered safety protection includes, but is not limited to, stopping the output cleaning action, stopping signal control, etc. The anomalies include signal loss and power failure. The remote safety circuit and the local safety circuit are constructed based on two safety relays connected in parallel. A "0" valid logic is established between the two safety control circuits corresponding to the two safety relays as a redundancy auxiliary after signal loss / power failure, realizing effective parallel connection of dual emergency stop circuits, avoiding the rigid requirement of long-distance deployment of safety control circuit cables, and reducing the number of wire cores required. The remote control device also includes a safety stop device, see [link to documentation]. Figure 6 The safety stop device is electrically connected to the main controller and is thus controlled by the host computer. The safety stop device is used to trigger the remote safety circuit for emergency protection. The safety stop device is equipped with a safety relay and a normally closed operation button to realize the emergency triggering of the remote safety circuit.

[0039] By combining the above solutions, the rigid transmission requirement of the connecting cable is changed to the transmission of Ethernet signals and CAN bus signals. The number of bus cores required is less than 8, and the long-distance signal transmission requirement of the control system of this cleaning equipment can be achieved by using standard RJ45 shielded cable. On the one hand, this avoids the problems of difficult maintenance, difficult replacement of spare parts, and the need to reserve redundant cores for customized composite cables, further improving the system reliability and maintenance speed under fault conditions. On the other hand, it avoids the problem of heavy cables and difficult layout of the original solution, which leads to long exposure time for personnel in high-radiation areas, and has the additional effect of reducing the overall radiation dose received by the operators.

[0040] The cleaning equipment based on a nuclear power plant steam generator provided in this embodiment can safely and efficiently realize the automatic control of nuclear power plant steam generator cleaning equipment, solving problems such as difficulties in on-site transportation and deployment of control devices, high workload and radiation dose for workers, and poor voice communication under existing technologies. The solution provided in this embodiment has the following characteristics:

[0041] (1) Use a portable computer or similar device as the host computer human-computer interaction hardware carrier. By centrally running host computer programs, human-computer interaction interfaces, image acquisition and processing software, and voice real-time communication software, integrate and optimize the hardware such as independent industrial control computers, displays, image processing modules and voice communication modules in the original technology, realize the design improvement of remote control devices, improve the technological advancement and device maintainability, reduce the overall weight and volume of remote control devices, facilitate on-site transportation, and reduce the installation workload of staff.

[0042] (2) By using the design of safety circuit logic redundancy, the application of high-speed bus communication technology, and the transmission of audio and video signals via Ethernet, the parallel requirements of multiple DC power supply, analog signals and control signals between remote control devices and local control devices are avoided. The function of the original non-standard customized remote control communication cable is simplified to the transmission of Ethernet and fieldbus communication signals. This can be achieved by using standard network cable products or other similar lightweight wires, which reduces maintenance costs and difficulties, reduces the working intensity of staff in high-radiation areas, and reduces the overall radiation dose received by staff during work.

[0043] (3) Based on the Ethernet transmission technology of audio and video signals, an integrated audio and video transmission board is designed to replace the original local control device audio and video related hardware, support synchronous wireless input of audio and video signals and Ethernet transmission, avoid laying out a large number of signal cables in high radiation areas, reduce the overall radiation dose received by personnel during work, and conveniently realize multi-channel environmental monitoring and full-duplex high-quality communication between personnel.

[0044] In one embodiment of the present invention, a control method based on a nuclear power plant steam generator cleaning device is provided, which is implemented using the aforementioned cleaning device and includes the following steps:

[0045] The video and audio signals collected around the cleaning drive unit are converted into Ethernet signals on-site and transmitted to a remote control device in the remote control room via a network cable. The cleaning drive unit is directly controlled by the on-site control device. The control room exists in the form of a mobile control cabin with a small volume and capacity.

[0046] Based on the feedback video and voice signals, the remote control device coordinates and controls the cleaning drive unit and the water circuit device. The remote control device outputs cleaning control commands to the local control device via a field communication bus to remotely regulate the cleaning drive unit. The remote control device controls the water circuit device via Ethernet to supply water to the cleaning drive unit and recycles the cleaned water. It is important to note that the field communication bus and network cable are integrated into a single cable, laid according to the predetermined cleaning locations. After the cleaning task is completed, the cable must be retrieved to avoid radiation damage during normal operation of the nuclear power plant.

[0047] The on-site execution process is briefly described below:

[0048] The staff transported and arranged the remote control device, water circuit device, local control device and cleaning drive device in place, and completed the water, electricity and gas connections. Specifically, the remote control device was electrically connected to the water circuit device and the local control device; the local control device was electrically and pneumatically connected to the cleaning drive device; and the water circuit device was water connected to the cleaning drive device.

[0049] The remote control device and water circuit device are located in the low-radiation area, but the space for their installation is relatively limited; the local control device and cleaning drive device are located in the high-radiation area. The remote control communication cable connecting the remote control device and the local control device is mostly located in the high-radiation area and needs to be laid and installed over a long distance.

[0050] In the high-radiation area, staff install the cleaning drive unit inside the steam generator. Remote staff monitor the status of the cleaning drive unit through the image monitoring and equipment status parameter display functions of the remote control device. They also communicate with staff in the high-radiation area in real time via a wired voice module to confirm that the cleaning drive unit has been correctly installed. After completing the installation, the on-site staff evacuate to the low-radiation area to stand by. It should be noted that the distance between the standby area and the cleaning location is much smaller than the distance between the remote control device and the cleaning location.

[0051] Remote staff set cleaning parameters and issue instructions through the industrial control host computer of the remote control device. The local control device and cleaning drive device are controlled automatically through the remote control communication cable. At the same time, the working status of the cleaning drive device is observed in real time through image monitoring. In case of abnormality, the audio-visual transmission substation communicates with the on-site standby personnel through the wired voice module. The audio-visual transmission substation communicates two-way with the on-site standby personnel through wireless communication means such as Bluetooth.

[0052] The control method for cleaning equipment based on a nuclear power plant steam generator provided in this embodiment has the following advantages: it makes the control device and remote communication cable portable and standardized, and easy to install and maintain; it integrates and wirelessly connects the audio and video transmission board, expanding the operating range and reducing the failure rate in special environments; it improves the overall technological advancement and maintainability of the device, and has the additional effect of reducing the labor intensity of workers and the radiation dose they receive.

[0053] The above description is merely a preferred embodiment of the present invention and does not limit its patent scope. Any equivalent structural or procedural transformations made based on the description and drawings of the present invention, whether directly or indirectly applied to other related technical fields, are similarly included within the patent protection scope of the present invention.

Claims

1. A cleaning device based on a nuclear power plant steam generator, characterized in that, It includes a remote control device, a local control device, a water circuit device, and a cleaning drive device. The remote control device and the water circuit device are located in the radiation safety zone, and the local control device and the cleaning drive device are located in the radiation hazard zone. The remote control device communicates with the local control device through a remote control communication cable. The remote control communication cable includes a field communication bus and a network cable. The remote control device includes a remote power supply module, a host computer, a main controller, and an Ethernet switch. The remote power supply module is used to supply power to the host computer, the main controller, and the Ethernet switch. The host computer, the Ethernet switch, and the main controller are connected in sequence and can perform Ethernet communication. The Ethernet switch is also connected to the water loop device for Ethernet communication, so that the water loop device is controlled by the remote control device to supply water to the cleaning drive device and perform wastewater recycling treatment. The local control device includes a local power supply module, a control substation, an audio-visual transmission substation, and a motor drive module. The local power supply module supplies power to the control substation, audio-visual transmission substation, and motor drive module. Both the control substation and the motor drive module communicate with the main controller via the field communication bus. The control substation controls the water pressure of the cleaning drive device, and the motor drive module is configured to control the rotation of the motor of the cleaning drive device. The audio-visual transmission substation is connected to the Ethernet switch via the network cable and is used to convert audio and video signals collected around the cleaning location into Ethernet signals and output them to the remote control device. The remote power supply module includes an AC power supply module and a first DC power supply module. The AC power supply module receives input from an external AC power source to power the first DC power supply module and the host computer. The first DC power supply module powers the main controller and the Ethernet switch. The local power supply module is a second DC power supply module. The second DC power supply module receives input from another external AC power source to power the control substation, the audio-visual transmission substation, and the motor drive module. The local control device also includes a pneumatic module, which is a combination of solenoid valves. The control substation adjusts the water pressure of the cleaning drive device through the pneumatic module, which is controlled by the output signal of the control substation. The motor drive module is a brushless DC motor driver that supports high-speed communication via CAN bus, and it is used to control the rotation of the servo motor of the cleaning drive device. The motor drive module is arranged at the local end of the high-irradiation area, and its power source is adjusted to the local area. The local control device is connected to the remote control device and to the cleaning drive device via a connector. The local control device receives control signals and the control substation controls the pneumatic module to move according to the set logic, thereby adjusting the cleaning water pressure. The motor drive module controls the motor in the cleaning drive device to rotate according to the set logic to control the direction of water jet. The remote control device is equipped with a remote safety loop, which actively triggers safety protection in the event of an abnormality in the remote control device. The local control device is equipped with a local safety loop, which actively triggers safety protection in the event of an abnormality in the local control device. The remote safety loop and the local safety loop are associated through the field communication bus to trigger safety protection synchronously. The abnormal situations include loss of signal and power failure.

2. The cleaning equipment based on a nuclear power plant steam generator according to claim 1, characterized in that, The remote control device is equipped with a safety stop device, which is used to trigger the remote safety circuit for safety protection in an emergency.

3. A control method based on a nuclear power plant steam generator cleaning device, characterized in that, The cleaning equipment based on a nuclear power plant steam generator as described in claim 1 includes the following steps: The video and audio signals collected around the cleaning drive unit are converted into Ethernet signals on-site and transmitted to a remote control device in the remote control room via a network cable. The cleaning drive unit is directly controlled by the on-site control device. Based on the feedback video and voice signals, the remote control device coordinates and controls the cleaning drive device and the water circuit device. The remote control device outputs cleaning control commands to the local control device through the field communication bus to remotely regulate the cleaning drive device. The remote control device controls the water circuit device through Ethernet to supply water to the cleaning drive device and recycle the cleaned water. The remote control device is equipped with a remote safety circuit, which actively triggers safety protection in the event of an abnormality in the remote control device. The local control device is equipped with a local safety circuit, which actively triggers safety protection in the event of an abnormality in the local control device. The abnormalities include loss of signal and power failure. When either the remote safety circuit or the local safety circuit triggers safety protection, the other circuit will also trigger safety protection accordingly.

4. The control method according to claim 3, characterized in that, Based on the feedback video and voice signals, remote personnel in the control room communicate with on-site personnel via Ethernet to assist in the accurate installation of the local control device and cleaning drive device. After installation, on-site personnel evacuate to the radiation safety zone to stand by.

5. The control method according to claim 4, characterized in that, Remote staff can set cleaning parameters and issue instructions through the host computer in the remote control device. The local control device is then controlled via the field communication bus to drive the cleaning drive device for automatic cleaning. At the same time, the working status of the cleaning drive device can be observed in real time through image monitoring. If manual adjustment is required on-site, communication can be made with on-site standby personnel via wired voice.

6. The control method according to claim 3, characterized in that, The field communication bus and network cable are integrated into a single cable, which is then laid according to the predetermined cleaning location. After the cleaning task is completed, the cable is retrieved.

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