Method and device for planning and controlling equipment in a nuclear power plant underground tunnel

Abstract

This disclosure pertains to the field of nuclear power technology, specifically relating to a method and apparatus for equipment planning and control in underground tunnels of nuclear power plants. The equipment planning and control method provided in this disclosure controls the equipment's travel path in the tunnel through autonomous planning and control methods, enabling path planning in both flat-bottomed and circular-bottomed tunnels based on real-time positioning and sensing data. Furthermore, a predictive model control method with error correction terms enables high-speed movement of cleaning and collection equipment in both flat-bottomed and circular-bottomed tunnels. This allows equipment (e.g., cleaning or collection equipment) to operate autonomously in different radii and shapes (circular-bottomed and flat-bottomed), replacing manual labor in high-risk scenarios.

Description

Technical Field

[0001] This invention belongs to the field of nuclear power technology, specifically relating to a method and device for equipment planning and control in underground tunnels of nuclear power plants. Background Technology

[0002] The final heat sink for nuclear power units during operation is the seawater cold source, which is responsible for removing heat from the reactor core during shutdown and cooling various nuclear safety equipment. It plays a crucial role in nuclear power plant operation, and the condition of the intake directly affects the safe operation and reliability of the power plant. The heat generated during unit operation causes marine organisms to attach to the cold source tunnel. Currently, the removal and transfer of marine organisms from the tunnel is mainly done manually using cleaning and collection equipment. However, manual cleaning of the cold source tunnel carries risks such as working in confined spaces and at heights, and the efficiency of single-person cleaning is low. Therefore, it is urgent to improve the tunnel cleaning efficiency and reduce the risks to personnel. Summary of the Invention

[0003] To overcome the problems existing in related technologies, a method and device for equipment planning and control in underground tunnels of nuclear power plants are provided.

[0004] According to one aspect of the present disclosure, a method for equipment planning and control in an underground tunnel of a nuclear power plant is provided, the method comprising:

[0005] Step 11: For flat-bottomed tunnels, obtain the lateral deviation d and orientation deviation θ of the equipment based on the real-time positioning sensor. Determine the pre-aiming distance l based on the degree of deviation of the equipment from the tunnel's central axis and the preset distance dis, according to Equation 1.

[0006] l = dis + d × tan(θ) Equation 1;

[0007] Step 12: Determine the coordinates of the target point Ptarget in the equipment coordinate system. Specifically, based on the pre-aiming distance l, Equation 2 is used to determine the angle γ between the equipment trajectory and the tunnel centerline. Based on the angle γ, pre-aiming distance l, lateral deviation d, and orientation deviation θ, Equation 3 is used to determine the forward coordinates of the target point Ptarget in the equipment coordinate system. Equation 4 is used to determine the backward coordinates of the target point Ptarget in the equipment coordinate system.

[0008] γ = arctan(d / L) Equation 2;

[0009]

[0010]

[0011] Step 13: Transform the coordinates of the target point Ptarget from the device coordinate system to the global coordinate system. The global coordinate system is represented as a Cartesian coordinate system xoy, and the device coordinate system is represented as a Cartesian coordinate system XOY. Obtain the coordinate transformation relationship T between the device coordinate system and the global coordinate system based on the real-time global positioning data of the device. b Let w be the coordinates of the target point in the global coordinate system, and let α be the angle between xoy and XOY. Equation 5 is used to represent the coordinates of the target point in the global coordinate system:

[0012]

[0013]

[0014] Step 14: Generate the target path. In the global coordinate system, by connecting the current positioning point of the device and the target point, interpolation and smoothing are performed to obtain the path of the device in the global coordinate system.

[0015] In one possible implementation, the method further includes: in step 11, if the tunnel is a round-bottomed tunnel, the roll attitude data β of the equipment is obtained, and the product of the β and a fixed empirical parameter is used as the lateral deviation data d.

[0016] In one possible implementation, the method further includes:

[0017] Step 31: The difference between the real-time positioning data of the device and the reference path is used as the control deviation to form a control deviation set;

[0018] Step 32: In the process of controlling the equipment (tracked vehicle) using the application model control algorithm disclosed in this invention, due to the influence of the equipment's sliding steering, hydraulic system hysteresis, etc., there will be an error ε(k) between the state quantity actually executed by the vehicle at each execution step and the state quantity obtained through the ideal motion model. In order to make up for this error, considering the consistency of the environment and the continuity of control between consecutive moments in the model predictive control process, it is approximately assumed that the error caused by the motion model of the environment at adjacent moments is consistent. The error ε(k) is the difference between the actual positioning data of the vehicle and the ideal state quantity obtained through model prediction.

[0019] Step 33, introduce the error correction term: the control deviation is summed with the error correction term to form the deviation input for model predictive control, as shown in Equation 7 for each time period of model prediction:

[0020]

[0021] In the formula, The difference between the device position and the reference trajectory at time (k+1) is the value of the difference between the device position and the reference trajectory. Let k be the difference between the device position and the reference trajectory at time k. Let A(k) be the control quantity of the device at time k, A(k) be the state transition matrix, and B(k) be the control matrix.

[0022] Step 34: Based on error correction and dynamic constraints, predict the control quantity in the time domain according to Equation 7 (rolling optimization), take the first control quantity of the optimization result, implement control on the equipment, and complete the equipment motion control.

[0023] According to another aspect of the present disclosure, an equipment planning and control device for an underground tunnel of a nuclear power plant is provided, the device comprising:

[0024] The first determining module, for flat-bottomed tunnels, obtains the lateral deviation d and orientation deviation θ of the equipment based on the real-time positioning sensor, determines the pre-aiming distance l based on the degree of deviation of the equipment from the tunnel's central axis and a preset distance dis, and according to Equation 1:

[0025] l = dis + d × tan(θ) Equation 1;

[0026] The second determining module is used to determine the coordinates of the target point Ptarget in the equipment coordinate system. Specifically, based on the pre-aiming distance l, Equation 2 is used to determine the angle γ between the equipment trajectory and the tunnel centerline. Based on the angle γ, the pre-aiming distance l, the lateral deviation d, and the orientation deviation θ, Equation 3 is used to determine the forward coordinates of the target point Ptarget in the equipment coordinate system, and Equation 4 is used to determine the backward coordinates of the target point Ptarget in the equipment coordinate system.

[0027] γ = arctan(d / L) Equation 2;

[0028]

[0029]

[0030] The third determination module is used to transform the coordinates of the target point Ptarget from the device coordinate system to the global coordinate system. The global coordinate system is represented as a rectangular coordinate system xoy, and the device coordinate system is represented as a rectangular coordinate system XOY. The coordinate transformation relationship T between the device coordinate system and the global coordinate system is obtained based on real-time device global positioning data. b w And the angle between xoy and XOY is α. Equation 5 is used to represent the coordinates of the target point of the device in the global coordinate system:

[0031]

[0032]

[0033] The generation module is used to generate the target path. In the global coordinate system, it performs interpolation and smoothing by connecting the current positioning point of the device and the target point to obtain the path of the device in the global coordinate system.

[0034] According to another aspect of the present disclosure, an equipment planning and control device for an underground tunnel of a nuclear power plant is provided, the device comprising:

[0035] processor;

[0036] Memory used to store processor-executable instructions;

[0037] The processor is configured to execute the above-described method.

[0038] According to another aspect of the present disclosure, a non-volatile computer-readable storage medium is provided, on which computer program instructions are stored, which, when executed by a processor, implement the above-described method.

[0039] The beneficial effects of this disclosure are as follows: The equipment planning and control method provided in the underground tunnels of nuclear power plants controls the equipment's travel path in the tunnel through autonomous planning and control methods, and can realize path planning in flat-bottomed and circular-bottomed tunnels based on real-time positioning and sensing data. Furthermore, the predictive model control method based on error correction terms can control cleaning and collection equipment to travel at high speeds in flat-bottomed and circular-bottomed tunnels. This enables equipment (e.g., cleaning or collection equipment) to operate autonomously in different radii and shapes (circular-bottomed and flat-bottomed), replacing manual labor in high-risk scenarios. Attached Figure Description

[0040] Figure 1 This is a flowchart illustrating an equipment planning and control method in an underground tunnel of a nuclear power plant, according to an exemplary embodiment.

[0041] Figure 2 This is a block diagram illustrating an equipment planning and control device in an underground tunnel of a nuclear power plant, according to an exemplary embodiment. Detailed Implementation

[0042] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0043] Figure 1 This is a flowchart illustrating an equipment planning and control method in an underground tunnel of a nuclear power plant, according to an exemplary embodiment. The method can be executed by a terminal device, which can be a server, desktop computer, laptop computer, etc. This disclosure does not limit the type of terminal device. Figure 1 As shown, the method includes:

[0044] Step 11: For flat-bottomed tunnels, obtain the lateral deviation d and orientation deviation θ (θ can be, for example, negative on the left and positive on the right) of the equipment based on the real-time positioning sensor. Adjust the aiming distance l according to the degree of deviation of the equipment from the tunnel centerline and the preset distance dis. The greater the deviation, the greater the aiming distance, making the overall path planning smoother. The aiming distance can be determined according to Equation 1:

[0045] l = dis + d × tan(θ) Equation 1

[0046] Step 12: Determine the coordinates of the target point Ptarget in the equipment coordinate system. Specifically, based on the pre-aiming distance l, Equation 2 is used to determine the angle γ between the equipment trajectory and the tunnel centerline. Based on the angle γ, pre-aiming distance l, lateral deviation d, and orientation deviation θ, Equation 3 is used to determine the forward coordinates of the target point Ptarget in the equipment coordinate system. Equation 4 is used to determine the backward coordinates of the target point Ptarget in the equipment coordinate system.

[0047] γ = arctan(d / L) (Equation 2)

[0048]

[0049]

[0050] Step 13: Transform the coordinates of the target point Ptarget from the device coordinate system to the global coordinate system. The global coordinate system is represented as a Cartesian coordinate system xoy, and the device coordinate system is represented as a Cartesian coordinate system XOY. The coordinate transformation relationship T between the device coordinate system and the global coordinate system can be obtained based on the real-time global positioning data of the device. b w Let the angle between the two coordinate systems be α, then the coordinates of the target point in the global coordinate system can be expressed by equations 5 and 6:

[0051]

[0052]

[0053] Step 14: Generate the target path. In the global coordinate system, by connecting the current positioning point of the device and the target point, interpolation and smoothing are performed to obtain the path of the device in the global coordinate system.

[0054] In one possible implementation, the method further includes: in step 11, the tunnel is a round-bottomed tunnel. Since the difference between the path planning of a round-bottomed tunnel and a flat-bottomed tunnel lies in the type of positioning perception data, for the round-bottomed tunnel condition, the roll attitude data β of the equipment is obtained, and the product of it with a fixed empirical parameter is used as the lateral deviation data d.

[0055] In one possible implementation, the method further includes:

[0056] Step 31: The difference between the real-time positioning data of the device and the reference path is used as the control deviation to form a control deviation set;

[0057] Step 32: In the process of controlling the equipment (e.g., tracked vehicle) using the application model control algorithm of this disclosure, due to the influence of the equipment's sliding steering, hydraulic system hysteresis, etc., there will be an error ε(k) between the state quantity actually obtained by the vehicle in each execution step and the state quantity obtained through the ideal motion model. To compensate for this error, considering the consistency of the environment and the continuity of control between consecutive moments in the model predictive control process, it can be approximately assumed that the error caused by the environmental motion model at adjacent moments is consistent. The error ε(k) is the difference between the actual positioning data of the vehicle and the ideal state quantity obtained through model prediction.

[0058] Step 33, introduce the error correction term: the control deviation is summed with the error correction term to form the deviation input for model predictive control, as shown in Equation 7 for each time period of model prediction:

[0059]

[0060] In the formula, The difference between the device position and the reference trajectory at time (k+1) is the value of the difference between the device position and the reference trajectory. Let k be the difference between the device position and the reference trajectory at time k. Let A(k) be the control quantity of the device at time k, A(k) be the state transition matrix, and B(k) be the control matrix.

[0061] Step 34: Based on error correction and dynamic constraints, predict the control quantity in the time domain according to Equation 7 (rolling optimization), take the first control quantity of the optimization result, implement control on the equipment, and complete the equipment motion control.

[0062] The equipment planning and control method disclosed herein for underground tunnels in nuclear power plants can realize path planning in flat-bottomed and round-bottomed tunnels based on real-time positioning and sensing data. The predictive model control method with error correction terms can control cleaning and collection equipment to travel at high speeds in flat-bottomed and round-bottomed tunnels.

[0063] In one possible implementation, an equipment planning and control device for an underground tunnel of a nuclear power plant is provided, the device comprising:

[0064] The first determining module, for flat-bottomed tunnels, obtains the lateral deviation d and orientation deviation θ of the equipment based on the real-time positioning sensor, determines the pre-aiming distance l based on the degree of deviation of the equipment from the tunnel's central axis and a preset distance dis, and according to Equation 1:

[0065] l = dis + d × tan(θ) Equation 1;

[0066] The second determining module is used to determine the coordinates of the target point Ptarget in the equipment coordinate system. Specifically, based on the pre-aiming distance l, Equation 2 is used to determine the angle γ between the equipment trajectory and the tunnel centerline. Based on the angle γ, the pre-aiming distance l, the lateral deviation d, and the orientation deviation θ, Equation 3 is used to determine the forward coordinates of the target point Ptarget in the equipment coordinate system, and Equation 4 is used to determine the backward coordinates of the target point Ptarget in the equipment coordinate system.

[0067] γ = arctan(d / L) Equation 2;

[0068]

[0069]

[0070] The third determination module is used to transform the coordinates of the target point Ptarget from the device coordinate system to the global coordinate system. The global coordinate system is represented as a rectangular coordinate system xoy, and the device coordinate system is represented as a rectangular coordinate system XOY. The coordinate transformation relationship T between the device coordinate system and the global coordinate system is obtained based on real-time device global positioning data. b w And the angle between xoy and XOY is α. Equation 5 is used to represent the coordinates of the target point of the device in the global coordinate system:

[0071]

[0072]

[0073] The generation module is used to generate the target path. In the global coordinate system, it performs interpolation and smoothing by connecting the current positioning point of the device and the target point to obtain the path of the device in the global coordinate system.

[0074] The description of the above-mentioned apparatus has already been elaborated in the description of the above-mentioned method, and will not be repeated here.

[0075] Figure 2 This is a block diagram illustrating an equipment planning and control device in an underground tunnel of a nuclear power plant, according to an exemplary embodiment. For example, device 1900 can be provided as a server. (See also...) Figure 2 The apparatus 1900 includes a processing component 1922, which further includes one or more processors, and memory resources represented by memory 1932 for storing instructions, such as application programs, that can be executed by the processing component 1922. The application programs stored in memory 1932 may include one or more modules, each corresponding to a set of instructions. Furthermore, the processing component 1922 is configured to execute instructions to perform the methods described above.

[0076] Device 1900 may also include a power supply component 1926 configured to perform power management of device 1900, a wired or wireless network interface 1950 configured to connect device 1900 to a network, and an input / output (I / O) interface 1958. Device 1900 can operate on an operating system stored in memory 1932, such as Windows Server™, MacOS X™, Unix™, Linux™, FreeBSD™, or similar.

[0077] In an exemplary embodiment, a non-volatile computer-readable storage medium is also provided, such as a memory 1932 including computer program instructions that can be executed by a processing component 1922 of the device 1900 to perform the above-described method.

[0078] This disclosure can be a system, method, and / or computer program product. A computer program product may include a computer-readable storage medium having computer-readable program instructions loaded thereon for causing a processor to implement various aspects of this disclosure.

[0079] Computer-readable storage media can be tangible devices capable of holding and storing instructions for use by an instruction execution device. Computer-readable storage media can be, for example—but not limited to—electrical storage devices, magnetic storage devices, optical storage devices, electromagnetic storage devices, semiconductor storage devices, or any suitable combination thereof. More specific examples (a non-exhaustive list) of computer-readable storage media include: portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), static random access memory (SRAM), portable compact disc read-only memory (CD-ROM), digital multifunction disc (DVD), memory sticks, floppy disks, mechanical encoding devices, such as punch cards or recessed protrusions storing instructions thereon, and any suitable combination thereof. The computer-readable storage media used herein are not to be construed as transient signals themselves, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through waveguides or other transmission media (e.g., light pulses through fiber optic cables), or electrical signals transmitted through wires.

[0080] The computer-readable program instructions described herein can be downloaded from computer-readable storage media to various computing / processing devices, or downloaded via a network, such as the Internet, local area network, wide area network, and / or wireless network, to an external computer or external storage device. The network may include copper transmission cables, fiber optic transmission, wireless transmission, routers, firewalls, switches, gateway computers, and / or edge servers. A network adapter card or network interface in each computing / processing device receives the computer-readable program instructions from the network and forwards them to the computer-readable storage media in the respective computing / processing device.

[0081] Computer program instructions used to perform the operations of this disclosure may be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-dependent instructions, microcode, firmware instructions, status setting data, or source code or object code written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Smalltalk, C++, etc., and conventional procedural programming languages ​​such as the "C" language or similar programming languages. The computer-readable program instructions may execute entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving a remote computer, the remote computer may be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or may be connected to an external computer (e.g., via the Internet using an Internet service provider). In some embodiments, electronic circuitry, such as programmable logic circuitry, field-programmable gate arrays (FPGAs), or programmable logic arrays (PLAs), is personalized by utilizing the status information of the computer-readable program instructions to implement various aspects of this disclosure.

[0082] Various aspects of this disclosure are described herein with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this disclosure. It should be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer-readable program instructions.

[0083] These computer-readable program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing apparatus to produce a machine such that, when executed by the processor of the computer or other programmable data processing apparatus, they create means for implementing the functions / actions specified in one or more blocks of the flowchart and / or block diagram. These computer-readable program instructions can also be stored in a computer-readable storage medium that causes a computer, programmable data processing apparatus, and / or other device to operate in a particular manner; thus, the computer-readable medium storing the instructions comprises an article of manufacture that includes instructions for implementing aspects of the functions / actions specified in one or more blocks of the flowchart and / or block diagram.

[0084] Computer-readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other device to cause a series of operational steps to be performed on the computer, other programmable data processing apparatus, or other device to produce a computer-implemented process, thereby causing the instructions executed on the computer, other programmable data processing apparatus, or other device to perform the functions / actions specified in one or more boxes of a flowchart and / or block diagram.

[0085] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of the present disclosure. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of an instruction containing one or more executable instructions for implementing a specified logical function. In some alternative implementations, the functions marked in the blocks may occur in a different order than those shown in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, may be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.

[0086] The various embodiments of this disclosure have been described above. These descriptions are exemplary and not exhaustive, nor are they limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen to best explain the principles, practical application, or improvement of the technology in the market, or to enable others skilled in the art to understand the embodiments disclosed herein.

Claims

1. A method for planning and controlling equipment in an underground tunnel of a nuclear power plant, characterized in that, The method includes: Step 11: For flat-bottomed tunnels, obtain the lateral deviation of the equipment based on the equipment's real-time positioning sensor. and orientation deviation Based on the degree to which the equipment deviates from the tunnel's central axis and the preset distance And determine the aiming distance according to Equation 1. : Formula 1; Step 12: Determine the coordinates of the target point Ptarget in the device coordinate system, whereby the coordinates are determined based on the pre-aiming distance. Equation 2 is used to determine the angle between the equipment trajectory and the tunnel centerline. According to the included angle Pre-aiming distance lateral deviation and orientation deviation Equation 3 is used to determine the forward coordinates of the target point Ptarget in the device coordinate system, and Equation 4 is used to determine the backward coordinates of the target point Ptarget in the device coordinate system. Formula 2; Formula 3; Formula 4; Step 13: Transform the coordinates of the target point Ptarget from the device coordinate system to the global coordinate system. The global coordinate system is represented as a Cartesian coordinate system xoy, and the device coordinate system is represented as a Cartesian coordinate system XOY. Obtain the coordinate transformation relationship between the device coordinate system and the global coordinate system based on real-time device global positioning data. And the angle between xoy and XOY is Equation 5 is used to represent the coordinates of the target point of the device in the global coordinate system: Formula 5; Formula Six; Step 14: Generate the target path. In the global coordinate system, by connecting the current positioning point of the device and the target point, interpolation and smoothing are performed to obtain the path of the device in the global coordinate system. The method further includes: Step 31: The difference between the real-time positioning data of the device and the reference path is used as the control deviation to form a control deviation set; Step 32: During the control of the equipment using the applied model control algorithm, due to the slip steering of the equipment and the hysteresis of the hydraulic system, there will be an error between the state quantity obtained by the actual execution of the vehicle for each execution step and the state quantity obtained through the ideal motion model. To compensate for this error, considering the consistency of the environment and the continuity of control between consecutive moments in the model predictive control process, it is approximated that the errors caused by the motion model of the environment at adjacent moments are consistent. The difference between the actual vehicle positioning data and the ideal state quantity predicted by the model; Step 33, introduce the error correction term: the control deviation is summed with the error correction term to form the deviation input for model predictive control, as shown in Equation 7 for each time period of model prediction: Formula 7; In the formula, for The difference between the device position and the reference trajectory at any given moment. for The difference between the device position and the reference trajectory at any given moment. for Control parameters of the time-sensitive device. Here is the state transition matrix. For control matrix; Step 34: Based on error correction and dynamic constraints, predict the control quantity in the time domain according to Equation 7 (rolling optimization), take the first control quantity of the optimization result, implement control on the equipment, and complete the equipment motion control.

2. The method according to claim 1, characterized in that, The method further includes: in step 11, if the tunnel is a circular-bottomed tunnel, then acquiring the roll attitude data of the equipment. The product of the product with a fixed empirical parameter is used as the lateral deviation data. .

3. An equipment planning and control device for underground tunnels in nuclear power plants, characterized in that, The device includes: The first determining module is used, for flat-bottomed tunnels, to obtain the lateral deviation of the equipment based on the equipment's real-time positioning sensor. and orientation deviation Based on the degree to which the equipment deviates from the tunnel's central axis and the preset distance And determine the aiming distance according to Equation 1. : Formula 1; The second determining module is used to determine the coordinates of the target point Ptarget in the device coordinate system, wherein, based on the pre-aiming distance... Equation 2 is used to determine the angle between the equipment trajectory and the tunnel centerline. According to the included angle Pre-aiming distance lateral deviation and orientation deviation Equation 3 is used to determine the forward coordinates of the target point Ptarget in the device coordinate system, and Equation 4 is used to determine the backward coordinates of the target point Ptarget in the device coordinate system. Formula 2; Formula 3; Formula 4; The third determination module is used to transform the coordinates of the target point Ptarget from the device coordinate system to the global coordinate system. The global coordinate system is represented as a rectangular coordinate system xoy, and the device coordinate system is represented as a rectangular coordinate system XOY. The coordinate transformation relationship between the device coordinate system and the global coordinate system is obtained based on real-time device global positioning data. And the angle between xoy and XOY is Equation 5 is used to represent the coordinates of the target point of the device in the global coordinate system: Formula 5; Formula Six; The generation module is used to generate the target path. In the global coordinate system, it performs interpolation and smoothing by connecting the current positioning point of the device and the target point to obtain the path of the device in the global coordinate system. The device further includes: The generation module is used to take the difference between the device's real-time positioning data and the reference path as the control deviation and form a control deviation set. The error determination module addresses the error that occurs during equipment control using applied model control algorithms. This error arises from factors such as slip steering and hydraulic system hysteresis, which can cause discrepancies between the actual state variables obtained by the vehicle at each execution step and those obtained through the ideal motion model. To compensate for this error, considering the consistency of the environment and the continuity of control between consecutive moments in the model predictive control process, it is approximated that the errors caused by the motion model of the environment at adjacent moments are consistent. The difference between the actual vehicle positioning data and the ideal state quantity predicted by the model; The correction module is used to introduce an error correction term: the control deviation is summed with the error correction term to form the deviation input for model predictive control, as shown in Equation 7 for each time period of the model prediction. Formula 7; In the formula, for The difference between the device position and the reference trajectory at any given moment. for The difference between the device position and the reference trajectory at any given moment. for Control parameters of the time-sensitive device. Here is the state transition matrix. For control matrix; The control module is used to predict the control quantity in the time domain based on error correction and dynamic constraints, according to Equation 7, and take the first control quantity of the optimization result to control the equipment and complete the equipment motion control.

4. An equipment planning and control device for underground tunnels in nuclear power plants, characterized in that, The device includes: processor; Memory used to store processor-executable instructions; The processor is configured to perform the method of claim 1 or 2.

5. A non-volatile computer-readable storage medium storing computer program instructions thereon, characterized in that, When the computer program instructions are executed by the processor, they implement the method of claim 1 or 2.

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