Wiping control method and device of nuclear power wiping robot and electronic equipment

Abstract

The invention is suitable for the technical field of robot control, and provides a wiping control method and device of a nuclear power wiping robot and electronic equipment, and the wiping control method comprises the steps that a first rotating speed corresponding to a cloth releasing motor and a second rotating speed corresponding to a cloth collecting motor are obtained, the cloth releasing motor is a motor corresponding to a cloth releasing roller of the nuclear power wiping robot, and the cloth collecting motor is a motor corresponding to a cloth collecting roller of the nuclear power wiping robot; the cloth collecting motor is a motor corresponding to a cloth collecting roller of the nuclear power wiping robot; and controlling a target motor according to the rotating speed deviation between the first rotating speed and the second rotating speed, wherein the target motor is the cloth unwinding motor or the cloth winding motor. The wiping effect of the nuclear power wiping robot can be improved.

Description

Technical Field

[0001] The present application belongs to the field of robot control technology, and in particular to a wiping control method, device and electronic equipment for a nuclear power wiping robot. Background Art

[0002] A wiping robot is a robot that can automatically perform wiping work. When a nuclear power plant is shut down, it is usually necessary to clean the reactor pool and then wipe the residual water at the bottom of the pool to prevent the residual water that may contain radioactivity from corroding the reactor equipment and causing pollution. Therefore, in order to improve operational safety, wiping robots can be used to wipe the reactor pool instead of manual labor.

[0003] At present, the same operating speed is usually set for the cloth-releasing motor and the cloth-collecting motor in the nuclear power wiping robot, and then the two motors are controlled according to the set operating speed. Whether the speeds of the two motors are synchronized is not considered during the process. However, factors such as the radiation and temperature at the bottom of the reactor pool and the structure of the nuclear power wiping robot usually have a certain impact on the speed of the cloth-releasing motor or the cloth-collecting motor, causing the speeds of cloth-releasing and cloth-collecting to be out of sync, affecting the wiping effect of the reactor pool. Summary of the invention

[0004] The embodiments of the present application provide a wiping control method, device and electronic equipment for a nuclear power wiping robot, which can improve the wiping effect of the nuclear power wiping robot.

[0005] In a first aspect, an embodiment of the present application provides a wiping control method for a nuclear power wiping robot, comprising:

[0006] Obtain a first rotation speed corresponding to a cloth-releasing motor and a second rotation speed corresponding to a cloth-collecting motor, wherein the cloth-releasing motor is a motor corresponding to a cloth-releasing drum of the nuclear power wiping robot, and the cloth-collecting motor is a motor corresponding to a cloth-collecting drum of the nuclear power wiping robot;

[0007] A target motor is controlled according to a speed deviation between the first speed and the second speed, and the target motor is the cloth-releasing motor or the cloth-collecting motor.

[0008] In a possible implementation manner of the first aspect, controlling the target motor according to a speed deviation between the first speed and the second speed includes:

[0009] Perform PID calculation according to the speed deviation to obtain a target control amount;

[0010] Determining a driving signal according to the target control amount;

[0011] The driving signal is output to the target motor to adjust the rotation speed of the target motor.

[0012] In a possible implementation manner of the first aspect, the target control amount includes an integral control amount, and the integral control amount is obtained according to the following steps:

[0013] Determine a current speed deviation according to the speed deviation and a target weight, wherein the target weight is determined according to the size of the speed deviation;

[0014] The integral control amount is determined according to the historical speed deviation and the current speed deviation, wherein the historical speed deviation at least includes the speed deviation corresponding to the previous control process.

[0015] In a possible implementation manner of the first aspect, before determining the current speed deviation according to the speed deviation and the target weight, the method further includes:

[0016] When the rotation speed deviation is less than or equal to a first threshold, determining the target weight to be 1;

[0017] When the speed deviation is greater than the first threshold and less than or equal to a second threshold, the target weight is determined according to a ratio of the speed deviation to the second threshold, wherein the target weight decreases as the speed deviation increases, and the second threshold is greater than the first threshold;

[0018] When the rotation speed deviation is greater than the second threshold, the target weight is determined to be 0.

[0019] In a possible implementation manner of the first aspect, the target control amount includes a differential control amount, and the differential control amount is obtained according to the following steps:

[0020] Performing a differential operation according to the speed deviation to obtain a rate of change of the speed deviation;

[0021] The change rate is filtered, and the differential control amount is determined according to the filtered change rate.

[0022] In a possible implementation manner of the first aspect, the target motor is the cloth collecting motor, and the controlling the target motor according to the speed deviation between the first speed and the second speed includes:

[0023] The cloth collecting motor is controlled in a closed loop according to the rotational speed deviation, and the closed loop control is used to control the rotational speed deviation between the second rotational speed and the first rotational speed to be less than or equal to a deviation threshold.

[0024] In a possible implementation manner of the first aspect, acquiring a first rotation speed corresponding to the cloth placing motor and a second rotation speed corresponding to the cloth collecting motor includes:

[0025] Acquire a first rotation distance of the cloth placing motor within a target time period through an encoder, and determine the first rotation speed according to the first rotation distance and the duration corresponding to the target time period;

[0026] The second rotation distance of the cloth collecting motor within the target time period is acquired through an encoder, and the second rotation speed is determined according to the second rotation distance and the duration corresponding to the target time period.

[0027] In a second aspect, an embodiment of the present application provides a wiping control device for a nuclear power wiping robot, comprising:

[0028] A rotation speed acquisition module, used to acquire a first rotation speed corresponding to a cloth-releasing motor and a second rotation speed corresponding to a cloth-collecting motor, wherein the cloth-releasing motor is a motor corresponding to a cloth-releasing drum of the nuclear power wiping robot, and the cloth-collecting motor is a motor corresponding to a cloth-collecting drum of the nuclear power wiping robot;

[0029] A control module is used to control a target motor according to a speed deviation between the first speed and the second speed, wherein the target motor is the cloth-releasing motor or the cloth-collecting motor.

[0030] In a third aspect, an embodiment of the present application provides an electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the steps of the wiping control method for the nuclear power wiping robot described in the first aspect are implemented.

[0031] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the wiping control method of the nuclear power wiping robot described in the first aspect above are implemented.

[0032] In a fifth aspect, an embodiment of the present application provides a computer program product. When the computer program product is run on an electronic device, the electronic device executes the wiping control method of the nuclear power wiping robot described in the first aspect above.

[0033] Compared with the prior art, the embodiments of the present invention have the following beneficial effects:

[0034] In the embodiment of the present application, when the nuclear power wiping robot is working, a first rotational speed corresponding to the cloth-releasing motor and a second rotational speed corresponding to the cloth-collecting motor are obtained. Since the first rotational speed can reflect the cloth-releasing speed of the cloth-releasing drum of the nuclear power wiping robot, and the second rotational speed can reflect the cloth-collecting speed of the cloth-collecting drum of the nuclear power wiping robot, the cloth-releasing motor or the cloth-collecting motor is controlled according to the speed deviation between the first speed and the second speed, thereby reducing the deviation between the speed of the cloth-releasing motor and the speed of the cloth-collecting motor, so that the nuclear power wiping robot can release and collect cloth at a consistent speed during the wiping process, that is, the nuclear power wiping robot can use a clean wiping cloth to wipe the reactor pool during the wiping process, and the dirty wiping cloth after wiping can be synchronously retracted, thereby effectively ensuring the wiping effect of the reactor pool, and at the same time effectively avoiding the situation in which the nuclear power wiping robot is affected by the accumulation of cloth during the wiping process, or even causes the nuclear power wiping robot to stop working, which is beneficial to improving the working efficiency of the nuclear power wiping robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art are briefly introduced below.

[0036] Figure 1 It is a flow chart of a wiping control method of a nuclear power wiping robot provided in one embodiment of the present application;

[0037] Figure 2 It is a structural schematic diagram of a wiping control device of a nuclear power wiping robot provided in an embodiment of the present application;

[0038] Figure 3 It is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0039] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application may also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present application.

[0040] It should be understood that when used in the present specification and the appended claims, the term "comprising" indicates the presence of described features, wholes, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or combinations thereof.

[0041] It should also be understood that the term “and / or” used in the specification and appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0042] In addition, in the description of the present application specification and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.

[0043] References to "one embodiment" or "some embodiments" etc. described in the specification of this application mean that one or more embodiments of the present application include specific features, structures or characteristics described in conjunction with the embodiment. Therefore, the phrases "in one embodiment", "in some embodiments", "in some other embodiments", "in some other embodiments", etc. appearing in different places in this specification do not necessarily refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways.

[0044] Embodiment 1:

[0045] Figure 1 A schematic flow chart of a wiping control method of a nuclear power wiping robot provided in an embodiment of the present application is shown, and is described in detail as follows:

[0046] S101, obtaining a first rotational speed corresponding to a cloth-releasing motor and a second rotational speed corresponding to a cloth-collecting motor, wherein the cloth-releasing motor is a motor corresponding to a cloth-releasing roller of the nuclear power wiping robot, and the cloth-collecting motor is a motor corresponding to a cloth-collecting roller of the nuclear power wiping robot.

[0047] It should be understood that the nuclear power wiping robot includes a cloth placing roller and a cloth collecting roller. During the wiping operation, the cloth placing roller is used to release and spread the clean wiping cloth for wiping, and the cloth collecting roller is used to retract the dirty wiping cloth after wiping. The coordinated work of cloth placing and cloth collecting enables the nuclear power wiping robot to maintain a stable and reliable cleaning ability.

[0048] It should be understood that the nuclear power wiping robot is usually provided with a cloth-releasing motor for driving the cloth-releasing roller to rotate, and a cloth-collecting motor for driving the cloth-collecting roller to rotate, wherein the cloth-releasing motor and the cloth-collecting motor usually have the same expected rotation speed, so that the nuclear power wiping robot can release and collect cloth synchronously during the wiping operation, thereby being able to wipe the bottom of the reactor pool continuously and evenly to ensure the wiping effect.

[0049] Optionally, when obtaining the first speed corresponding to the cloth-releasing motor and the second speed corresponding to the cloth-collecting motor, the first speed and the second speed can be obtained through a sensory method such as an encoder or a Hall sensor, or through a sensorless method such as an observer, a frequency conversion method, and a sensorless magnetic field oriented control. The first speed and the second speed can also be obtained by a combination of sensory and sensorless methods. The specific setting can be made according to actual needs.

[0050] Since the complex environment of the reactor pool bottom usually affects the operation of the motor in the nuclear power wiping robot, resulting in the rotation speed of the cloth-releasing motor and the synchronous motor being out of sync, affecting the wiping effect, therefore, in the embodiment of the present application, when the nuclear power wiping robot is in the wiping operation stage, the first rotation speed corresponding to the cloth-releasing motor can be obtained, and at the same time, the second rotation speed corresponding to the cloth-collecting motor can be obtained, so as to analyze the rotation speed synchronization between the cloth-collecting motor and the cloth-releasing motor based on the first rotation speed and the second rotation speed.

[0051] It should be understood that during the wiping operation of the nuclear power wiping robot, the first rotational speed and the second rotational speed may be acquired by random sampling, or by a fixed sampling frequency.

[0052] For example, during the wiping operation of the nuclear power wiping robot, the first speed and the second speed are obtained at a set target sampling frequency. The target sampling frequency can be automatically calculated based on a deep learning model such as a large model or other intelligent algorithms according to the influence of the reactor pool bottom environment on the cloth release motor and the cloth collection motor, or it can be set or input by the user, and can be set according to actual needs.

[0053] In some embodiments, after the nuclear power wiping robot completes one wiping of the entire reactor pool bottom, it may need to wipe the reactor pool bottom one or more times to ensure that the radiation dose of the reactor pool bottom is reduced to a safe range. During the wiping process, the radiation dose of the reactor pool bottom gradually decreases, so that the degree of influence on the cloth release motor and the cloth collection motor is reduced accordingly. Therefore, during the wiping operation of the nuclear power wiping robot, the target sampling frequency corresponding to the current wiping process can be determined according to the current number of wiping cycles (also called wiping rounds). It should be understood that the target sampling frequencies corresponding to different rounds are usually different. Optionally, the target sampling frequency corresponding to the round can decrease as the number of wiping rounds increases.

[0054] For example, when the current wiping process is the first round, that is, when the reactor pool bottom is wiped for the first time, the set first frequency (such as 5 seconds each time) can be used as the target sampling frequency, and the first speed and the second speed can be obtained at the set first frequency during the first wiping process; when the current wiping process is the second round, the set second frequency (such as 10 seconds each time) can be used as the target sampling frequency, and the first speed and the second speed can be obtained at the second frequency during the second wiping process, wherein the second frequency is lower than the first frequency.

[0055] Through the above processing, the sampling frequency of the rotation speed is determined based on the degree of influence on the cloth releasing motor and the cloth collecting motor, thereby determining the frequency of controlling the corresponding motor. The wiping effect can be better guaranteed by controlling the motor, while controlling the implementation cost and complexity of the wiping control.

[0056] S102, controlling a target motor according to a speed deviation between the first speed and the second speed, the target motor being the cloth placing motor or the cloth collecting motor.

[0057] It should be understood that the control method of the target motor includes but is not limited to open-loop control, closed-loop control, feedforward control, and feedback control. When the target motor is controlled according to the speed deviation, the target motor may be controlled by a single control method or by a composite control method combining multiple control methods. For example, the target motor may be controlled by a composite control method combining feedforward control and feedback control.

[0058] Since different control methods usually differ in one or more aspects such as response speed, control accuracy, implementation cost and implementation difficulty, when controlling the target motor according to the speed deviation, the control method adopted can be determined according to the current wiping round (assuming it is called the target control method), and the target motor is controlled by the target control method, thereby being able to better meet the wiping control requirements of the nuclear power wiping robot.

[0059] It should be understood that the goal of wiping control is to keep the rotational speeds of the cloth-releasing motor and the cloth-collecting motor consistent. Therefore, after determining the rotational speed deviation between the first rotational speed and the second rotational speed, the cloth-releasing motor can be controlled according to the rotational speed deviation, or the cloth-collecting motor can be controlled according to the rotational speed deviation, that is, only the motor corresponding to one of the rollers is controlled according to the rotational speed deviation so that its rotational speed is synchronized with the rotational speed of the motor corresponding to the other roller, thereby better realizing the wiping control of the nuclear power wiping robot and reducing the implementation cost and complexity of the wiping control.

[0060] In the embodiment of the present application, when the nuclear power wiping robot is working, a first rotational speed corresponding to the cloth-releasing motor and a second rotational speed corresponding to the cloth-collecting motor are obtained. Since the first rotational speed can reflect the cloth-releasing speed of the cloth-releasing drum of the nuclear power wiping robot, and the second rotational speed can reflect the cloth-collecting speed of the cloth-collecting drum of the nuclear power wiping robot, the cloth-releasing motor or the cloth-collecting motor is controlled according to the speed deviation between the first speed and the second speed, thereby reducing the deviation between the speed of the cloth-releasing motor and the speed of the cloth-collecting motor, so that the nuclear power wiping robot can release and collect cloth at a consistent speed during the wiping process, that is, the nuclear power wiping robot can use a clean wiping cloth to wipe the reactor pool during the wiping process, and the dirty wiping cloth after wiping can be synchronously retracted, thereby effectively ensuring the wiping effect of the reactor pool, and at the same time effectively avoiding the situation in which the nuclear power wiping robot is affected by the accumulation of cloth during the wiping process, or even causes the nuclear power wiping robot to stop working, which is beneficial to improving the working efficiency of the nuclear power wiping robot.

[0061] In some embodiments, the above step S101 includes:

[0062] The first rotation distance of the cloth placing motor within the target time period is acquired through an encoder, and the first rotation speed is determined according to the first rotation distance and the duration corresponding to the target time period.

[0063] The second rotation distance of the cloth collecting motor within the target time period is acquired through an encoder, and the second rotation speed is determined according to the second rotation distance and the duration corresponding to the target time period.

[0064] Since the encoder can accurately measure the angular displacement and rotational position of the motor and obtain a rotation distance with high precision, in the embodiment of the present application, the encoder can be used to obtain the rotation distance of the cloth release motor within the target time period, and then the first rotation speed corresponding to the cloth release motor can be calculated based on the obtained first rotation distance and rotation duration (i.e., the duration corresponding to the target time period).

[0065] Similarly, for the cloth collecting motor, the rotation distance of the cloth collecting motor within the target time period is obtained through the encoder, and then the second rotation speed corresponding to the cloth collecting motor is calculated according to the obtained second rotation distance and rotation duration.

[0066] Optionally, the target time period may be a time period determined according to a target sampling frequency. For example, the target time period is a time period between two adjacent sampling moments, and at the current sampling moment, the rotation distance of the cloth-releasing motor in the time period between the previous sampling moment and the current sampling moment is obtained through an encoder to obtain a first rotation distance, and the rotation distance of the cloth-collecting motor in the time period between the previous sampling moment and the current sampling moment is obtained through an encoder to obtain a second rotation distance.

[0067] In other embodiments, the rotational speed deviation can be directly calculated based on the distance deviation between the first rotational distance and the second rotational distance and the duration corresponding to the target time period, without calculating the first rotational speed corresponding to the cloth releasing motor and the second rotational speed corresponding to the cloth collecting motor, thereby reducing the amount of data processing and the calculation complexity in the wiping control process.

[0068] Optionally, the speed deviation can be expressed as follows:

[0069]

[0070] Among them, ΔV represents the speed deviation, H1 represents the first rotation distance corresponding to the cloth-releasing motor, H2 represents the second rotation distance corresponding to the cloth-collecting motor, ΔH represents the distance deviation between the first rotation distance and the second rotation distance, and ΔT represents the duration corresponding to the target time period.

[0071] In the embodiment of the present application, the rotation distance of the cloth releasing motor and the cloth collecting motor within the target time period is accurately obtained through an encoder, and then the first rotation speed and the second rotation speed are calculated with higher accuracy according to the rotation distance and the rotation duration, thereby improving the subsequent control accuracy of the target motor, that is, improving the wiping control accuracy of the nuclear power wiping robot.

[0072] In some embodiments, the target motor is the cloth collecting motor, and the step S102 includes:

[0073] The cloth collecting motor is controlled in a closed loop according to the speed deviation, and the closed loop control is used to control the speed deviation between the second speed and the first speed to be less than or equal to a deviation threshold.

[0074] The above-mentioned closed-loop control is a control method that adjusts the motor output (such as speed or torque, etc.) through feedback signals (such as position, speed or acceleration, etc.) to make the actual output of the motor as close to the expected output as possible. In the embodiment of the present application, the closed-loop control is used to adjust the speed of the cloth-collecting motor through the real-time speed feedback to control the speed deviation between the second speed corresponding to the cloth-collecting motor and the first speed corresponding to the cloth-releasing motor to be less than or equal to the deviation threshold (such as 1 revolution per second).

[0075] It should be understood that the above-mentioned deviation threshold can be a value dynamically determined according to the first speed corresponding to the cloth release motor, or it can be a fixed value generated by a deep learning model such as a large model or other methods, or it can be a value obtained according to user settings or inputs, and can be set specifically according to the actual application scenario.

[0076] In order to reduce the complexity of implementing wiping control, during the wiping control process, the cloth collecting motor can be used as the target motor. At this time, the first speed corresponding to the cloth releasing motor is used as the expected speed of the cloth collecting motor, and the cloth collecting motor is closed-loop controlled according to the speed between the second speed corresponding to the cloth collecting motor and the first speed corresponding to the cloth releasing motor (i.e. the expected speed), thereby ensuring that the speed of the cloth collecting motor can follow the speed of the cloth releasing motor in real time, reducing the accumulation or pulling of the wiping cloth, and ensuring the wiping efficiency and wiping effect of the nuclear power wiping robot.

[0077] In the embodiment of the present application, the first rotational speed corresponding to the cloth-releasing motor is used as the expected rotational speed of the cloth-collecting motor. During the wiping control process, it is only necessary to fix the rotational speed deviation between the first rotational speed and the second rotational speed corresponding to the cloth-collecting motor to perform closed-loop control on the cloth-collecting motor, thereby reducing the complexity of the wiping control and ensuring that the rotational speed of the cloth-collecting motor is synchronized with the rotational speed of the cloth-releasing motor.

[0078] In some embodiments, the above step S102 includes:

[0079] PID calculation is performed based on the above speed deviation to obtain the target control amount.

[0080] Determine a driving signal according to the above target control amount;

[0081] The driving signal is output to the target motor to adjust the rotation speed of the target motor.

[0082] PID operation (Proportional-Integral-Differential) is also called proportional-integral-differential operation. It is a closed-loop control algorithm based on feedback. PID operation usually determines the final control quantity by calculating the proportional term, integral term and differential term of the speed deviation, thereby adjusting the output of the motor to reach or maintain the desired value.

[0083] The target control amount obtained by PID operation is used to indicate the adjustment direction and speed of the rotation speed of the target motor. In the embodiment of the present application, the target control amount may include one or more of a proportional control amount, an integral control amount and a differential control amount.

[0084] The above-mentioned driving signal is an electrical signal used to control the rotation of the motor, which can be expressed as a pulse signal, various waveform signals or current signals, etc.

[0085] Specifically, when the PID operation is performed according to the speed deviation, the required control amount can be calculated according to the speed deviation, for example, the proportional control amount corresponding to the proportional term, the integral control amount corresponding to the integral term, and the differential control amount corresponding to the differential term. After the required control amount is calculated, the final target control amount is determined according to the calculated control amount, and then the drive signal of the target motor is determined according to the target control amount. The target motor is controlled to rotate by the drive signal so that the speed of the target motor gradually approaches the speed of the other motor, so as to achieve the speed synchronization of the cloth placing motor and the cloth collecting motor.

[0086] It should be understood that when performing PID calculations based on speed deviation, the gain coefficients (also called weights) corresponding to the proportional terms, integral terms and differential terms can be set according to actual needs. During the calculation process, the control quantities corresponding to the proportional terms, integral terms and differential terms are first calculated respectively, and then the final target control quantity is determined based on each control quantity and the corresponding gain coefficient.

[0087] In the embodiment of the present application, since the PID operation can combine the three control elements of proportion, integration and differentiation, and the proportional control can quickly reduce the speed deviation, the integral control can eliminate the steady-state error of the target motor, and the differential control can suppress oscillation and improve the response speed, therefore, by performing PID operation according to the speed deviation, the required control amount can be calculated according to actual needs, so as to determine the target control amount, and then, according to the target controller, the drive signal of the target motor is determined and the target motor is controlled, which can better achieve high-precision control of the target motor, thereby improving the accuracy of wiping control.

[0088] In some embodiments, the target control amount includes an integral control amount, and the integral control amount is obtained according to the following steps:

[0089] The current speed deviation is determined according to the speed deviation and the target weight, and the target weight is determined according to the size of the speed deviation.

[0090] The above-mentioned integral control amount is determined according to the historical speed deviation and the above-mentioned current speed deviation, and the above-mentioned historical speed deviation at least includes the above-mentioned speed deviation corresponding to the previous control process.

[0091] In order to reduce the probability of oscillation or overshoot, when calculating the integral control amount, a suitable weight (i.e., target weight) can be dynamically determined according to the current speed deviation, and the speed deviation can be weighted according to the target weight to obtain the current speed deviation adjusted by the target weight. The target weight is used to control the influence of the current speed deviation on the integral control amount, thereby controlling the size of the integral control amount, reducing overreaction to small deviations or reducing overshoot caused by integral saturation, and improving the stability of the target motor control, that is, improving the stability of the wiping control.

[0092] In some embodiments, the historical speed deviation may include N speed deviations corresponding to the previous N (N is greater than 2) control processes. The integral control amount is calculated based on the current speed deviation and the historical N speed deviations. The cumulative benefits of multiple historical speed deviations can be fully considered, so that the impact of integral saturation on motor control performance can be better controlled, which is beneficial to improving the robustness and reliability of motor control.

[0093] In some embodiments, when determining the target weight based on the speed deviation, a weight function related to the speed deviation can be set. The weight function can be a decreasing function (such as a linear decreasing function, an exponential decreasing function, a piecewise function or an inverse proportional function, etc.). The target weight is calculated by using the weight function and the speed deviation, so that the target weight decreases with the increase of the speed deviation, thereby reducing the current speed deviation calculated, and avoiding the integral control amount calculated subsequently being too large, resulting in integral saturation or overshoot.

[0094] In some embodiments, before determining the current speed deviation according to the speed deviation and the target weight, the method further includes:

[0095] When the rotation speed deviation is less than or equal to the first threshold, the target weight is determined to be 1.

[0096] When the speed deviation is greater than the first threshold and less than or equal to the second threshold, the target weight is determined according to the ratio of the speed deviation to the second threshold, wherein the target weight decreases as the speed deviation increases, and the second threshold is greater than the first threshold.

[0097] When the rotation speed deviation is greater than the second threshold, the target weight is determined to be 0.

[0098] Optionally, the first threshold and the second threshold can be calculated based on a deep learning model such as a large model, an intelligent algorithm or other methods, or can be set or input by a user, and can be set specifically according to actual needs.

[0099] In some embodiments, the target weight can be expressed as follows:

[0100]

[0101] Wherein, β represents the target weight, A represents the first threshold, B represents the second threshold, error(k) represents the speed deviation calculated by the kth control process, that is, the current speed deviation, and |error(k)| represents the absolute value of the speed deviation.

[0102] In the embodiment of the present application, when the speed deviation is small, the integral control amount is directly calculated based on the speed deviation. When the size of the speed deviation is appropriate, a suitable target weight is determined based on the size of the speed deviation to reasonably control the size of the integral control amount. When the speed deviation is large, the large speed deviation is not introduced to calculate the integral control amount, so that the integral control slows down as the integral control amount decreases. The size of the integral control amount is effectively controlled through variable target weights, which is beneficial to improving the control effect of the target motor, that is, improving the wiping control effect.

[0103] In some embodiments, the target control amount includes a differential control amount, and the differential control amount is obtained according to the following steps:

[0104] A differential operation is performed based on the rotation speed deviation to obtain a rate of change of the rotation speed deviation.

[0105] The above-mentioned change rate is filtered, and the above-mentioned differential control amount is determined according to the above-mentioned change rate after filtering.

[0106] The rate of change of the speed deviation, that is, the speed deviation divided by the speed of change over time, can reflect the changing trend of the speed deviation.

[0107] Optionally, when performing a differential operation based on the speed deviation, the rate of change of the speed deviation can be calculated based on the difference between the current speed deviation and the speed deviation corresponding to the previous control process and the corresponding time interval, or the rate of change can be calculated based on the current speed deviation and the speed deviation at the previous moment and the corresponding time interval. It can also be that after calculating the current rate of change based on the current speed deviation, the final rate of change (assuming it is called the target rate of change) is determined in combination with the rate of change corresponding to the previous or previous N control processes, and then the differential control amount is determined based on the target rate of change.

[0108] For example, the final change rate may be determined based on the current change rate and the average value or median value of the change rates corresponding to the previous three control processes.

[0109] Among them, in order to improve the control stability of the target motor, after the change rate of the speed deviation is obtained, the change rate can be filtered (such as low-pass filtering), and then the differential control amount can be determined according to the filtered change rate. The filtering process can filter out interference such as high-frequency noise, thereby reducing the interference to the calculation of the differential control amount, obtaining a smoother differential control amount with higher accuracy, and avoiding the occurrence of differential shock.

[0110] In some embodiments, the rate of change can be filtered by a filter. Optionally, the filter can be a first-order low-pass filter, and the first-order low-pass filter can be used as a first-order inertia link, that is, the first-order low-pass filter is similar to the first-order inertia link in dynamic response and frequency domain characteristics, has inertia characteristics and low-pass filtering effects, can effectively reduce the interference of high-frequency noise, improve the stability and anti-interference ability of motor control, improve dynamic performance and reduce the influence of differential shock, which is conducive to improving the wiping control effect of the nuclear power wiping robot.

[0111] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0112] Embodiment 2:

[0113] Corresponding to the wiping control method of the nuclear power wiping robot described in the above embodiment, Figure 2 A structural block diagram of a wiping control device of a nuclear power wiping robot provided in an embodiment of the present application is shown. For ease of explanation, only the parts related to the embodiment of the present application are shown.

[0114] Reference Figure 2 The device includes: a rotation speed acquisition module 21 and a control module 22.

[0115] The speed acquisition module 21 is used to obtain a first speed corresponding to the cloth-releasing motor and a second speed corresponding to the cloth-collecting motor. The cloth-releasing motor is a motor corresponding to the cloth-releasing roller of the nuclear power wiping robot, and the cloth-collecting motor is a motor corresponding to the cloth-collecting roller of the nuclear power wiping robot.

[0116] The control module 22 is used to control the target motor according to the speed deviation between the first speed and the second speed, and the target motor is the cloth-releasing motor or the cloth-collecting motor.

[0117] In the embodiment of the present application, when the nuclear power wiping robot is working, a first rotational speed corresponding to the cloth-releasing motor and a second rotational speed corresponding to the cloth-collecting motor are obtained. Since the first rotational speed can reflect the cloth-releasing speed of the cloth-releasing drum of the nuclear power wiping robot, and the second rotational speed can reflect the cloth-collecting speed of the cloth-collecting drum of the nuclear power wiping robot, the cloth-releasing motor or the cloth-collecting motor is controlled according to the speed deviation between the first speed and the second speed, thereby reducing the deviation between the speed of the cloth-releasing motor and the speed of the cloth-collecting motor, so that the nuclear power wiping robot can release and collect cloth at a consistent speed during the wiping process, that is, the nuclear power wiping robot can use a clean wiping cloth to wipe the reactor pool during the wiping process, and the dirty wiping cloth after wiping can be synchronously retracted, thereby effectively ensuring the wiping effect of the reactor pool, and at the same time effectively avoiding the situation in which the nuclear power wiping robot is affected by the accumulation of cloth during the wiping process, or even causes the nuclear power wiping robot to stop working, which is beneficial to improving the working efficiency of the nuclear power wiping robot.

[0118] In some embodiments, the target motor is the cloth collecting motor, and the control module 22 includes:

[0119] A closed-loop control unit is used to perform closed-loop control on the cloth collecting motor according to the speed deviation, wherein the closed-loop control is used to control the speed deviation between the second speed and the first speed to be less than or equal to a deviation threshold.

[0120] In some embodiments, the control module 22 includes:

[0121] The PID operation unit is used to perform PID operation according to the above speed deviation to obtain the target control amount.

[0122] A driving signal determining unit, used to determine the driving signal according to the above target control amount;

[0123] The driving unit is used to output the driving signal to the target motor to adjust the rotation speed of the target motor.

[0124] In some embodiments, the target control amount includes an integral control amount, and the wiping control device of the nuclear power wiping robot further includes:

[0125] The current speed deviation determination module is used to determine the current speed deviation according to the speed deviation and the target weight, wherein the target weight is determined according to the size of the speed deviation.

[0126] The integral control amount calculation module is used to determine the integral control amount according to the historical speed deviation and the current speed deviation, wherein the historical speed deviation at least includes the speed deviation corresponding to the previous control process.

[0127] In some embodiments, the wiping control device of the nuclear power wiping robot further includes:

[0128] The first determination module is used to determine that the target weight is 1 when the rotation speed deviation is less than or equal to a first threshold.

[0129] The second determination module is used to determine the target weight according to the ratio of the speed deviation to the second threshold when the speed deviation is greater than the first threshold and less than or equal to the second threshold, wherein the target weight decreases as the speed deviation increases, and the second threshold is greater than the first threshold.

[0130] The third determination module is used to determine that the target weight is 0 when the rotation speed deviation is greater than the second threshold.

[0131] In some embodiments, the target control amount includes a differential control amount, and the wiping control device of the nuclear power wiping robot further includes:

[0132] The differential operation module is used to perform a differential operation according to the rotational speed deviation to obtain a rate of change of the rotational speed deviation.

[0133] The filtering module is used to filter the above-mentioned change rate and determine the above-mentioned differential control amount according to the above-mentioned change rate after filtering.

[0134] In some embodiments, the rotation speed acquisition module 21 includes:

[0135] The first rotation speed acquisition unit is used to acquire the first rotation distance of the cloth placing motor within the target time period through an encoder, and determine the first rotation speed according to the first rotation distance and the duration corresponding to the target time period.

[0136] The second rotation speed acquisition unit is used to acquire the second rotation distance of the cloth collecting motor within the target time period through an encoder, and determine the second rotation speed according to the second rotation distance and the duration corresponding to the target time period.

[0137] It should be noted that the information interaction, execution process, etc. between the above-mentioned devices / units are based on the same concept as the method embodiment of the present application. Their specific functions and technical effects can be found in the method embodiment part and will not be repeated here.

[0138] Embodiment three:

[0139] Figure 3 This is a schematic diagram of the structure of an electronic device provided by an embodiment of the present application. Figure 3 As shown, the electronic device 3 of this embodiment includes: at least one processor 30 ( Figure 3Only one processor is shown in the figure), a memory 31, and a computer program 32 stored in the memory 31 and executable on the at least one processor 30, wherein the processor 30 implements the steps in any of the above-mentioned method embodiments when executing the computer program 32.

[0140] The electronic device 3 may be a computing device such as a desktop computer, a notebook, a PDA, or a cloud server. The electronic device may include, but is not limited to, a processor 30 and a memory 31. Those skilled in the art will appreciate that Figure 3 It is only an example of the electronic device 3 and does not constitute a limitation on the electronic device 3. It may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, it may also include input and output devices, network access devices, etc.

[0141] The processor 30 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc.

[0142] In some embodiments, the memory 31 may be an internal storage unit of the electronic device 3, such as a hard disk or memory of the electronic device 3. In other embodiments, the memory 31 may also be an external storage device of the electronic device 3, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), etc. equipped on the electronic device 3. Further, the memory 31 may also include both an internal storage unit of the electronic device 3 and an external storage device. The memory 31 is used to store an operating system, an application program, a boot loader (BootLoader), data, and other programs, such as the program code of the computer program, etc. The memory 31 may also be used to temporarily store data that has been output or is to be output.

[0143] The technicians in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In practical applications, the above-mentioned function allocation can be completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated in a processing unit, or each unit can exist physically separately, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.

[0144] An embodiment of the present application also provides a network device, which includes: at least one processor, a memory, and a computer program stored in the memory and executable on the at least one processor, wherein the processor implements the steps in any of the above-mentioned method embodiments when executing the computer program.

[0145] An embodiment of the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps in the above-mentioned method embodiments can be implemented.

[0146] An embodiment of the present application provides a computer program product. When the computer program product runs on an electronic device, the electronic device can implement the steps in the above-mentioned method embodiments when executing the computer program product.

[0147] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the processes in the above-mentioned embodiment method, which can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a computer-readable storage medium. When the computer program is executed by the processor, the steps of the above-mentioned various method embodiments can be implemented. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may at least include: any entity or device that can carry the computer program code to the camera / electronic device, recording medium, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, RandomAccess Memory), electric carrier signal, telecommunication signal and software distribution medium. For example, a USB flash drive, a mobile hard disk, a magnetic disk or an optical disk. In some jurisdictions, according to legislation and patent practice, computer-readable media cannot be electric carrier signals and telecommunication signals.

[0148] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0149] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0150] In the embodiments provided in the present application, it should be understood that the disclosed devices / network equipment and methods can be implemented in other ways. For example, the device / network equipment embodiments described above are merely schematic. For example, the division of the modules or units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0151] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0152] The embodiments described above are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, a person skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A wiping control method for a nuclear power wiping robot, characterized in that: include: Obtain a first rotation speed corresponding to a cloth-releasing motor and a second rotation speed corresponding to a cloth-collecting motor, wherein the cloth-releasing motor is a motor corresponding to a cloth-releasing drum of the nuclear power wiping robot, and the cloth-collecting motor is a motor corresponding to a cloth-collecting drum of the nuclear power wiping robot; A target motor is controlled according to a speed deviation between the first speed and the second speed, and the target motor is the cloth-releasing motor or the cloth-collecting motor.

2. The wiping control method of the nuclear power wiping robot according to claim 1, characterized in that: The controlling the target motor according to the speed deviation between the first speed and the second speed includes: Perform PID calculation according to the speed deviation to obtain a target control amount; Determining a drive signal according to the target control amount; The driving signal is output to the target motor to adjust the rotation speed of the target motor.

3. The wiping control method of the nuclear power wiping robot according to claim 2, characterized in that: The target control amount includes an integral control amount, and the integral control amount is obtained according to the following steps: Determine a current speed deviation according to the speed deviation and a target weight, wherein the target weight is determined according to the size of the speed deviation; The integral control amount is determined according to the historical speed deviation and the current speed deviation, wherein the historical speed deviation at least includes the speed deviation corresponding to the previous control process.

4. The wiping control method of the nuclear power wiping robot according to claim 3, characterized in that: Before determining the current speed deviation according to the speed deviation and the target weight, the method further includes: When the rotation speed deviation is less than or equal to a first threshold, determining the target weight to be 1; When the speed deviation is greater than the first threshold and less than or equal to a second threshold, the target weight is determined according to a ratio of the speed deviation to the second threshold, wherein the target weight decreases as the speed deviation increases, and the second threshold is greater than the first threshold; When the rotation speed deviation is greater than the second threshold, the target weight is determined to be 0.

5. The wiping control method of the nuclear power wiping robot according to claim 2, characterized in that: The target control amount includes a differential control amount, and the differential control amount is obtained according to the following steps: Performing a differential operation according to the speed deviation to obtain a rate of change of the speed deviation; The change rate is filtered, and the differential control amount is determined according to the filtered change rate.

6. The wiping control method of the nuclear power wiping robot according to claim 1, characterized in that: The target motor is the cloth collecting motor, and the target motor is controlled according to the speed deviation between the first speed and the second speed, including: The cloth collecting motor is controlled in a closed loop according to the speed deviation, and the closed loop control is used to adjust the second speed so that the speed deviation between the second speed and the first speed is less than or equal to a deviation threshold.

7. The wiping control method of a nuclear power wiping robot according to any one of claims 1 to 6, characterized in that: The obtaining of a first rotation speed corresponding to the cloth placing motor and a second rotation speed corresponding to the cloth collecting motor comprises: Acquire a first rotation distance of the cloth placing motor within a target time period through an encoder, and determine the first rotation speed according to the first rotation distance and the duration corresponding to the target time period; The second rotation distance of the cloth collecting motor within the target time period is acquired through an encoder, and the second rotation speed is determined according to the second rotation distance and the duration corresponding to the target time period.

8. A wiping control device for a nuclear power wiping robot, characterized in that: include: A rotation speed acquisition module, used to acquire a first rotation speed corresponding to a cloth-releasing motor and a second rotation speed corresponding to a cloth-collecting motor, wherein the cloth-releasing motor is a motor corresponding to a cloth-releasing drum of the nuclear power wiping robot, and the cloth-collecting motor is a motor corresponding to a cloth-collecting drum of the nuclear power wiping robot; A control module is used to control a target motor according to a speed deviation between the first speed and the second speed, wherein the target motor is the cloth-releasing motor or the cloth-collecting motor.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the method according to any one of claims 1 to 7 is implemented.

10. A computer program product, characterized in that When the computer program product runs on an electronic device, the electronic device is enabled to execute the method according to any one of claims 1 to 7.

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