Nuclear power wiping robot wiping control method and device and electronic equipment

Abstract

The application 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, which comprises the following steps: acquiring a first rotating speed corresponding to a cloth unwinding motor and a second rotating speed corresponding to a cloth winding motor, the cloth unwinding motor being a motor corresponding to a cloth unwinding roller of the nuclear power wiping robot, and the cloth winding motor being a motor corresponding to a cloth winding roller of the nuclear power wiping robot; and controlling a target motor according to a rotating speed deviation between the first rotating speed and the second rotating speed, the target motor being the cloth unwinding motor or the cloth winding motor. The application can improve the wiping effect of the nuclear power wiping robot.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of robot control, and particularly relates to a wiping control method and device of a nuclear power wiping robot and an electronic device. BACKGROUND

[0002] The wiping robot refers to a robot capable of automatically performing wiping work. Since the nuclear power station is usually stopped, the reactor pool needs to be cleaned, and then the residual water on the pool bottom is wiped to avoid the residual water possibly containing radioactivity from corroding the reactor equipment and causing pollution. Therefore, in order to improve the operation safety, the wiping robot can be used to replace the manual wiping of the reactor pool.

[0003] Currently, the same working speed is usually set for the cloth unwinding motor and the cloth winding motor in the nuclear power wiping robot, and then the two motors are controlled according to the set working speed, without paying attention to whether the speeds of the two motors are synchronized in the process. However, the radiation, temperature and structure of the nuclear power wiping robot on the reactor pool bottom usually have certain influences on the speeds of the cloth unwinding motor or the cloth winding motor, so that the unwinding and winding speeds are not synchronized, and the wiping effect of the reactor pool is affected. SUMMARY

[0004] The wiping control method and device of the nuclear power wiping robot and the electronic device provided in the embodiments of the application can improve the wiping effect of the nuclear power wiping robot.

[0005] In a first aspect, the embodiments of the application provide a wiping control method of a nuclear power wiping robot, comprising:

[0006] obtaining a first speed corresponding to a cloth unwinding motor and a second speed corresponding to a cloth winding motor, the cloth unwinding motor being a motor corresponding to a cloth unwinding roller of the nuclear power wiping robot, and the cloth winding motor being a motor corresponding to a cloth winding roller of the nuclear power wiping robot;

[0007] controlling a target motor according to a speed deviation between the first speed and the second speed, the target motor being the cloth unwinding motor or the cloth winding motor.

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

[0009] performing PID operation according to the speed deviation to obtain a target control quantity;

[0010] determining a driving signal according to the target control quantity;

[0011] outputting the driving signal to the target motor to adjust the speed of the target motor.

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

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

[0014] The integral control quantity is determined according to a historical speed deviation and the current speed deviation, and the historical speed deviation at least comprises the speed deviation corresponding to a previous control process.

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

[0016] In a case where the speed deviation is less than or equal to a first threshold value, the target weight is determined as 1;

[0017] In a case where the speed deviation is greater than the first threshold value and less than or equal to a second threshold value, the target weight is determined according to a ratio of the speed deviation to the second threshold value, wherein the target weight decreases with an increase of the speed deviation, and the second threshold value is greater than the first threshold value;

[0018] In a case where the speed deviation is greater than the second threshold value, the target weight is determined as 0.

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

[0020] A rate of change of the speed deviation is obtained by performing a differential operation on the speed deviation;

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

[0022] In a possible implementation manner of the first aspect, the target motor is the take-up motor, and the controlling the target motor according to the speed deviation between the first speed and the second speed comprises:

[0023] The take-up 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 value.

[0024] In a possible implementation manner of the first aspect, the obtaining the first speed corresponding to the let-off motor and the second speed corresponding to the take-up motor comprises:

[0025] acquire a first rotation distance of the cloth-unwinding motor in a target time period through an encoder, and determine the first rotation speed according to the first rotation distance and a time length corresponding to the target time period;

[0026] acquire a second rotation distance of the cloth-winding motor in the target time period through the encoder, and determine the second rotation speed according to the second rotation distance and the time length corresponding to the target time period.

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

[0028] a rotation speed acquisition module, configured to acquire a first rotation speed corresponding to a cloth-unwinding motor and a second rotation speed corresponding to a cloth-winding motor, the cloth-unwinding motor being a motor corresponding to a cloth-unwinding roller of the nuclear power wiping robot, and the cloth-winding motor being a motor corresponding to a cloth-winding roller of the nuclear power wiping robot;

[0029] a control module, configured to control a target motor according to a rotation speed deviation between the first rotation speed and the second rotation speed, the target motor being the cloth-unwinding motor or the cloth-winding 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 capable of running on the processor, and the processor implements steps of the wiping control method of the nuclear power wiping robot according to the first aspect when executing the computer program.

[0031] In a fourth aspect, an embodiment of the present application provides a computer readable storage medium, and the computer readable storage medium stores a computer program, and the computer program implements steps of the wiping control method of the nuclear power wiping robot according to the first aspect when executed by a processor.

[0032] In a fifth aspect, an embodiment of the present application provides a computer program product, and when the computer program product runs on an electronic device, the electronic device executes the wiping control method of the nuclear power wiping robot according to the first aspect.

[0033] Compared with the prior art, the embodiment of the present application has the following beneficial effects:

[0034] In the embodiment of the present application, when the nuclear power wiping robot is working, the first rotating speed corresponding to the cloth unwinding motor and the second rotating speed corresponding to the cloth winding motor are obtained. Since the first rotating speed can reflect the unwinding speed of the cloth unwinding reel of the nuclear power wiping robot, and the second rotating speed can reflect the winding speed of the cloth winding reel of the nuclear power wiping robot, the cloth unwinding motor or the cloth winding motor is controlled according to the rotating speed deviation between the first rotating speed and the second rotating speed, so as to reduce the deviation between the rotating speed of the cloth unwinding motor and the rotating speed of the cloth winding motor, and make the nuclear power wiping robot unwind and wind the cloth at a consistent speed during wiping, that is, make the nuclear power wiping robot wipe the reactor pool with clean wiping cloth during wiping, and make the dirty wiping cloth after wiping be wound back synchronously, so as to effectively guarantee the wiping effect of the reactor pool, and effectively avoid the situation that the nuclear power wiping robot stops working due to cloth accumulation during wiping, and the like, which is beneficial to improving the working efficiency of the nuclear power wiping robot. BRIEF DESCRIPTION OF DRAWINGS

[0035] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced.

[0036] Figure 1 is a flow diagram of a wiping control method of a nuclear power wiping robot provided by an embodiment of the present application;

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

[0038] Figure 3 is a structural diagram of an electronic device provided by the embodiment of the present application. DETAILED DESCRIPTION

[0039] In the following description, specific details are set forth such as particular system configurations, techniques, etc., in order to provide a thorough understanding of the embodiments of the present application. However, it should be apparent to those skilled in the art that the present application can be practiced without these specific details. In other instances, well-known systems, structures, circuits, and techniques have not been shown in detail in order not to obscure the understanding of this application.

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

[0041] It should also be understood that the term "and / or" as used herein refers to any one of the associated listed items, or a combination of any and all of the associated listed items, and includes all possible combinations thereof.

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

[0043] In the present application, the reference "one embodiment" or "some embodiments" means that the specific features, structures or characteristics described in connection with the embodiment are included in one or more embodiments of the present application. Therefore, the statements "in one embodiment", "in some embodiments", "in other some embodiments", "in further some embodiments" and the like appearing in different places in the specification are not necessarily all referring to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized.

[0044] Embodiment one:

[0045] Figure 1 A flowchart of a wiping control method of a nuclear power wiping robot is shown, and will be described in detail as follows:

[0046] S101, obtaining a first rotating speed corresponding to a cloth releasing motor and a second rotating speed corresponding to a cloth collecting motor, 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 releasing roller and a cloth collecting roller. During the wiping operation, the cloth releasing roller is used to release and spread clean wiping cloth for wiping, and the cloth collecting roller is used to collect dirty wiping cloth after wiping. Through the cooperative work of cloth releasing and collecting, the nuclear power wiping robot can maintain 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. The cloth releasing motor and the cloth collecting motor usually have the same expected rotating speed, so that the nuclear power wiping robot can release and collect cloth synchronously during the wiping operation, thereby continuously and uniformly wiping the reactor pool bottom and ensuring the wiping effect.

[0049] Optionally, when the first rotation speed corresponding to the cloth unwinding motor and the second rotation speed corresponding to the cloth winding motor are acquired, the first rotation speed and the second rotation speed can be acquired in a inductive manner such as an encoder or a Hall sensor, or in a non-inductive manner such as an observer, a frequency conversion method, and a non-inductive field-oriented control, or in a combination of the inductive and non-inductive manners, and the specific manner can be set according to actual needs.

[0050] Since the complex environment at the bottom of the reactor pool usually affects the operation of the motor in the nuclear power wiping robot, the rotation speeds of the cloth unwinding motor and the synchronous motor are out of synchronization, and the wiping effect is affected. Therefore, in the case that the nuclear power wiping robot is in the wiping operation stage, the first rotation speed corresponding to the cloth unwinding motor is acquired, and at the same time, the second rotation speed corresponding to the cloth winding motor is acquired, so as to analyze the rotation speed synchronization between the cloth winding motor and the cloth unwinding motor according to the first rotation speed and the second rotation speed.

[0051] It should be understood that in the process of wiping operation of the nuclear power wiping robot, the first rotation speed and the second rotation speed can be acquired in a random sampling manner, or the first rotation speed and the second rotation speed can be acquired at a fixed sampling frequency.

[0052] For example, in the process of wiping operation of the nuclear power wiping robot, the first rotation speed and the second rotation speed are acquired 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 environment at the bottom of the reactor pool on the cloth unwinding motor and the cloth winding motor, or can be set or input by a user, and the specific manner can be set according to actual needs.

[0053] In some embodiments, after completing a wiping of the entire bottom of the reactor pool, the nuclear power wiping robot can still need to wipe the bottom of the reactor pool one or more times to ensure that the radiation dose of the bottom of the reactor pool is reduced to a safe range. In the wiping process, the radiation dose of the bottom of the reactor pool gradually decreases, so that the degree of influence of the cloth unwinding motor and the cloth winding motor decreases accordingly. Therefore, in the process of 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 wiping cycle number (also referred to as wiping round number). It should be understood that the target sampling frequencies corresponding to different rounds are usually different. Optionally, the target sampling frequency corresponding to a round can decrease with the increase of the wiping round number.

[0054] For example, when the current wiping process is the first round, i.e., the first wiping of the reactor pool bottom, a set first frequency (e.g., 5 seconds per time) can be used as the target sampling frequency, and the first rotational speed and the second rotational speed can be obtained at the set first frequency during the first wiping process; when the current wiping process is the second round, a set second frequency (e.g., 10 seconds per time) can be used as the target sampling frequency, and the first rotational speed and the second rotational speed can be obtained at the second frequency during the second wiping process, where the second frequency is lower than the first frequency.

[0055] Through the above processing, the sampling frequency of the rotational speed is determined based on the affected degree of the cloth unwinding motor and the cloth winding motor, so as to determine the frequency of controlling the corresponding motor, and the wiping effect can be better guaranteed through the control of the motor, while the implementation cost and the implementation complexity of the wiping control are reduced.

[0056] S102, controlling the target motor according to the rotational speed deviation between the first rotational speed and the second rotational speed, the target motor being the cloth unwinding motor or the cloth winding motor.

[0057] It should be understood that the control mode of the target motor includes but is not limited to open-loop control, closed-loop control, feedforward control, feedback control, etc., and when the target motor is controlled according to the rotational speed deviation, a single control mode can be used to control the target motor, or a composite control mode combining multiple control modes can be used to control the target motor. For example, the target motor can be controlled by a composite control mode combining feedforward control and feedback control.

[0058] Since different control modes usually differ in one or more aspects such as response speed, control accuracy, implementation cost and implementation difficulty, when the target motor is controlled according to the rotational speed deviation, the control mode (referred to as the target control mode) used can be determined according to the current wiping round, and the target motor is controlled by the target control mode, so as to better meet the wiping control requirements of the nuclear power wiping robot.

[0059] It should be understood that the target of the wiping control is to keep the rotational speeds of the cloth unwinding motor and the cloth winding motor consistent, and therefore, after the rotational speed deviation between the first rotational speed and the second rotational speed is determined, the cloth unwinding motor can be controlled according to the rotational speed deviation, or the cloth winding motor can be controlled according to the rotational speed deviation, i.e., only one of the two rollers is controlled according to the rotational speed deviation, so that the rotational speed of the corresponding motor is kept synchronous with the rotational speed of the motor corresponding to the other roller, and the wiping control of the nuclear power wiping robot is better realized, while the implementation cost and the implementation complexity of the wiping control are reduced.

[0060] In the embodiment of the present application, when the nuclear power wiping robot is working, the first rotating speed corresponding to the cloth unwinding motor and the second rotating speed corresponding to the cloth winding motor are obtained. Since the first rotating speed can reflect the unwinding speed of the cloth unwinding reel of the nuclear power wiping robot, and the second rotating speed can reflect the winding speed of the cloth winding reel of the nuclear power wiping robot, the cloth unwinding motor or the cloth winding motor is controlled according to the rotating speed deviation between the first rotating speed and the second rotating speed, so as to reduce the deviation between the rotating speed of the cloth unwinding motor and the rotating speed of the cloth winding motor, and make the nuclear power wiping robot unwind and wind the cloth at a consistent speed during wiping, that is, make the nuclear power wiping robot wipe the reactor pool with clean wiping cloth during wiping, wind the dirty wiping cloth after wiping synchronously, effectively guarantee the wiping effect of the reactor pool, and effectively avoid the situation that the nuclear power wiping robot stops working due to cloth accumulation during wiping, which is beneficial to improve the working efficiency of the nuclear power wiping robot.

[0061] In some embodiments, the step S101 comprises:

[0062] The first rotating distance of the cloth unwinding motor in the target time period is obtained through the encoder, and the first rotating speed is determined according to the first rotating distance and the time length corresponding to the target time period.

[0063] The second rotating distance of the cloth winding motor in the target time period is obtained through the encoder, and the second rotating speed is determined according to the second rotating distance and the time length corresponding to the target time period.

[0064] Since the encoder can accurately measure the angular displacement and rotating position of the motor, the rotating distance obtained has high accuracy, therefore, in the embodiment of the present application, the rotating distance of the cloth unwinding motor in the target time period is obtained through the encoder, and then the first rotating speed corresponding to the cloth unwinding motor is calculated according to the obtained first rotating distance and the rotating time length (i.e. the time length corresponding to the target time period).

[0065] Similarly, for the cloth winding motor, the rotating distance of the cloth winding motor in the target time period is obtained through the encoder, and then the second rotating speed corresponding to the cloth winding motor is calculated according to the obtained second rotating distance and the rotating time length.

[0066] Optionally, the target time period can be a time period determined according to a target sampling frequency. For example, the target time period is the time period between two adjacent sampling time points. At the current sampling time point, the first rotating distance of the cloth unwinding motor in the time period between the previous sampling time point and the current sampling time point is obtained through the encoder, and the second rotating distance of the cloth winding motor in the time period between the previous sampling time point and the current sampling time point is obtained through the encoder.

[0067] In some embodiments, the speed deviation can be calculated directly according to the path deviation between the first rotation path and the second rotation path and the duration corresponding to the target time period, without calculating the first speed corresponding to the unwinding motor and the second speed corresponding to the winding motor, thereby reducing the data processing amount and the calculation complexity in the wiping control process.

[0068] Optionally, the speed deviation can be expressed in the following form:

[0069]

[0070] wherein AV represents the speed deviation, H1 represents the first rotation path corresponding to the unwinding motor, H2 represents the second rotation path corresponding to the winding motor, AH represents the path deviation between the first rotation path and the second rotation path, and AT represents the duration corresponding to the target time period.

[0071] In the embodiments of the present application, the rotation paths of the unwinding motor and the winding motor in the target time period are accurately obtained through the encoder, and the first speed and the second speed with higher accuracy are respectively calculated according to the rotation paths and the rotation duration, thereby improving the control accuracy of the target motor and the wiping control accuracy of the nuclear power wiping robot.

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

[0073] The winding motor is controlled 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 closed-loop control is a control method for adjusting the motor output (such as speed or torque) through a feedback signal (such as position, speed or acceleration) to make the actual output of the motor as close as possible to the expected output. In the embodiments of the present application, the closed-loop control is used to adjust the speed of the winding motor through the feedback real-time speed to control the speed deviation between the second speed corresponding to the winding motor and the first speed corresponding to the unwinding motor to be less than or equal to a deviation threshold (such as 1 revolution per second).

[0075] It should be understood that the deviation threshold can be a value dynamically determined according to the first speed corresponding to the unwinding motor, can be a fixed value generated by a deep learning model such as a large model or other ways, or can be a value obtained according to user settings or inputs, and can be set according to actual application scenarios.

[0076] To reduce the implementation complexity of the wiping control, during the wiping control process, the cloth collecting motor can be taken as the target motor, at this time, the first rotating speed corresponding to the cloth releasing motor is taken as the expected rotating speed of the cloth collecting motor, the cloth collecting motor is closed-loop controlled according to the rotating speed difference between the second rotating speed corresponding to the cloth collecting motor and the first rotating speed (i.e. the expected rotating speed) corresponding to the cloth releasing motor, so as to ensure that the rotating speed of the cloth collecting motor can follow the rotating speed of the cloth releasing motor in real time, reduce the situation that the wiping cloth is accumulated or pulled, and guarantee the wiping efficiency and wiping effect of the nuclear power wiping robot.

[0077] In the embodiment of the application, the first rotating speed corresponding to the cloth releasing motor is taken as the expected rotating speed of the cloth collecting motor, during the wiping control process, only the cloth collecting motor is closed-loop controlled according to the rotating speed difference between the first rotating speed and the second rotating speed corresponding to the cloth collecting motor, so as to reduce the complexity of the wiping control and ensure that the rotating speed of the cloth collecting motor is kept synchronous with the rotating speed of the cloth releasing motor.

[0078] In some embodiments, the step S102 comprises:

[0079] The target control amount is obtained by performing PID operation according to the rotating speed difference.

[0080] The driving signal is determined according to the target control amount.

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

[0082] PID operation (Proportional-Integral-Differential) is also called proportional-integral-differential operation, which is a kind of closed-loop control algorithm based on feedback. The PID operation usually determines the final control amount by calculating the proportional term, integral term and differential term of the rotating speed difference, so as to adjust the output of the motor to reach or maintain the expected value.

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

[0084] The driving signal is an electric signal used to control the rotation of the motor, which can be 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, a proportional control amount corresponding to a proportional term, an integral control amount corresponding to an integral term, and a differential control amount corresponding to a differential term. After the required control amount is calculated, the final target control amount is determined according to the calculated control amount, so that the driving signal of the target motor is determined according to the target control amount, and the target motor is controlled to rotate through the driving signal, so that the speed of the target motor gradually approaches the speed of the other motor, and the speed synchronization of the cloth releasing motor and the cloth collecting motor is achieved.

[0086] It should be understood that when the PID operation is performed according to the speed deviation, the gain coefficients (also referred to as weights) corresponding to the proportional term, the integral term, and the differential term can be set according to actual needs. In the operation process, the control amounts corresponding to the proportional term, the integral term, and the differential term are calculated respectively, and then the final target control amount is determined according to the control amounts and the corresponding gain coefficients.

[0087] In the embodiments of the present application, since the PID operation can combine the three control elements of proportion, integration, and differentiation, 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, when the PID operation is performed according to the speed deviation, the required control amount can be calculated according to actual needs to determine the target control amount. Further, the driving signal of the target motor is determined according to the target controller and the target motor is controlled, which can better achieve high-precision control of the target motor and improve the precision of the wiping control.

[0088] In some embodiments, the target control amount described above 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 a target weight, and the target weight is determined according to the size of the speed deviation.

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

[0091] 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, the speed deviation is weighted according to the target weight, and the current speed deviation adjusted by the target weight is obtained. The influence of the current speed deviation on the integral control amount is controlled through the target weight, so as to control the size of the integral control amount, reduce the overreaction to small deviations or reduce the overshoot caused by integral saturation, and improve the stability of the target motor control, that is, improve the stability of the wiping control.

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

[0093] In some embodiments, when the target weight is determined according to the speed deviation, a weight function of the speed deviation can be set, which can be a decreasing function (such as a linear decreasing function, an exponential decreasing function, a piecewise function, or an inverse proportional function, etc.), and the target weight is calculated by 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 saturation or overshoot caused by the integral control quantity calculated subsequently.

[0094] In some embodiments, before the current speed deviation is determined according to the above speed deviation and the target weight, the method further comprises:

[0095] In the case that the above speed deviation is less than or equal to a first threshold, the above target weight is determined as 1.

[0096] In the case that the above speed deviation is greater than the above first threshold and less than or equal to a second threshold, the above target weight is determined according to a ratio of the above speed deviation to the above second threshold, wherein the above target weight decreases with the increase of the above speed deviation, and the above second threshold is greater than the above first threshold.

[0097] In the case that the above speed deviation is greater than the above second threshold, the above target weight is determined as 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 ways, or can be set or input by a user, and can be set according to actual needs.

[0099] In some embodiments, the target weight can be expressed in the following form:

[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 in the kth control process, i.e. the current speed deviation, and |error(k)| represents the absolute value of the speed deviation.

[0102] In the embodiments of the present application, when the speed deviation is small, the integral control quantity is directly calculated according to the speed deviation; when the speed deviation is appropriate, the appropriate target weight is determined according to the size of the speed deviation, and the size of the integral control quantity is reasonably controlled; and when the speed deviation is large, the integral control quantity is not calculated by introducing the large speed deviation, so that the integral control is slowed down with the decrease of the integral control quantity, the size of the integral control quantity is effectively controlled through the variable target weight, and the control effect of the target motor is improved, that is, the wiping control effect is improved.

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

[0104] The speed deviation is differentiated to obtain a rate of change of the speed deviation.

[0105] The rate of change is filtered, and the differential control quantity is determined according to the filtered rate of change.

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

[0107] Optionally, when the speed deviation is differentiated, the rate of change of the speed deviation can be calculated according to 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 according to the current speed deviation and the speed deviation at the previous moment and the corresponding time interval, or after the current rate of change is calculated according to the current speed deviation, the final rate of change (referred to as target rate of change) is determined by combining the rates of change corresponding to the previous control process or the previous N control processes, and then the differential control quantity is determined according to the target rate of change.

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

[0109] In order to improve the stability of the control of the target motor, after the rate of change of the speed deviation is obtained, the rate of change can be filtered (such as low-pass filtering), and then the differential control quantity is determined according to the filtered rate of change, so as to filter out high-frequency noise and other interference through filtering, thereby reducing the interference of the calculation of the differential control quantity, obtaining a more smooth differential control quantity 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 a first-order inertial link, that is, the first-order low-pass filter is similar to the first-order inertial link in dynamic response and frequency domain characteristics, has inertial characteristics and low-pass filtering effect, can effectively reduce the interference of high-frequency noise, improve the stability and anti-interference ability of motor control, improve the dynamic performance and reduce the influence of differential shock, and 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 number of each step in the above embodiments does not mean the order of execution, and the execution order of each process should be determined according to its function and inherent logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0112] Embodiment two:

[0113] According to the wiping control method of the nuclear power wiping robot described in the above embodiments, Figure 2 The structure block diagram of the wiping control device of the nuclear power wiping robot provided by the embodiments of the present application is shown, and only the parts related to the embodiments of the present application are shown for ease of illustration.

[0114] Referring to Figure 2 The device comprises a rotating speed acquisition module 21 and a control module 22. Wherein,

[0115] The rotating speed acquisition module 21 is used to acquire the first rotating speed corresponding to the cloth unwinding motor and the second rotating speed corresponding to the cloth winding motor. The cloth unwinding motor is the motor corresponding to the cloth unwinding roller of the nuclear power wiping robot, and the cloth winding motor is the motor corresponding to the cloth winding roller of the nuclear power wiping robot.

[0116] The control module 22 is used to control the target motor according to the rotating speed deviation between the first rotating speed and the second rotating speed. The target motor is the cloth unwinding motor or the cloth winding motor.

[0117] In the embodiment of the present application, when the nuclear power wiping robot is working, the first rotation speed corresponding to the cloth unwinding motor and the second rotation speed corresponding to the cloth winding motor are obtained. Since the first rotation speed can reflect the unwinding speed of the cloth unwinding reel of the nuclear power wiping robot, and the second rotation speed can reflect the winding speed of the cloth winding reel of the nuclear power wiping robot, the cloth unwinding motor or the cloth winding motor is controlled according to the rotation speed deviation between the first rotation speed and the second rotation speed, so as to reduce the deviation between the rotation speed of the cloth unwinding motor and the rotation speed of the cloth winding motor, and make the nuclear power wiping robot unwind and wind the cloth at a consistent speed during wiping, that is, make the nuclear power wiping robot wipe the reactor pool with clean wiping cloth during wiping, and synchronously wind the dirty wiping cloth after wiping, effectively guarantee the wiping effect of the reactor pool, and effectively avoid the situation that the nuclear power wiping robot stops working due to cloth accumulation during wiping, and the like, which is beneficial to improve the working efficiency of the nuclear power wiping robot.

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

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

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

[0121] a PID operation unit configured to perform PID operation on the rotation speed deviation to obtain a target control amount.

[0122] a driving signal determination unit configured to determine a driving signal according to the target control amount;

[0123] a driving unit configured 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 comprises an integral control amount, and the wiping control device of the nuclear power wiping robot further comprises:

[0125] a current rotation speed deviation determination module configured to determine a current rotation speed deviation according to the rotation speed deviation and a target weight, and the target weight is determined according to the size of the rotation speed deviation.

[0126] an integral control amount calculation module configured to determine the integral control amount according to a historical rotation speed deviation and the current rotation speed deviation, and the historical rotation speed deviation at least comprises the rotation speed deviation corresponding to the previous control process.

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

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

[0129] The second determining module is configured to determine the target weight according to a ratio of the rotation speed deviation to a second threshold when the rotation speed deviation is greater than the first threshold and less than or equal to the second threshold, wherein the target weight decreases with the increase of the rotation speed deviation, and the second threshold is greater than the first threshold.

[0130] The third determining module is configured to determine the target weight as 0 when the rotation speed deviation is greater than the second threshold.

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

[0132] The differential operation module is configured to perform differential operation on the rotation speed deviation to obtain a change rate of the rotation speed deviation.

[0133] The filtering module is configured to filter the change rate and determine the differential control quantity according to the filtered change rate.

[0134] In some embodiments, the rotation speed obtaining module 21 comprises:

[0135] The first rotation speed obtaining unit is configured to obtain a first rotation distance of the cloth feeding motor in a target time period through an encoder, and determine the first rotation speed according to the first rotation distance and a time length corresponding to the target time period.

[0136] The second rotation speed obtaining unit is configured to obtain a second rotation distance of the cloth collecting motor in the target time period through the encoder, and determine the second rotation speed according to the second rotation distance and the time length corresponding to the target time period.

[0137] It should be noted that the information interaction and execution process between the above-mentioned devices / units are based on the same concept as the method embodiments of the present application, and the specific functions and technical effects brought by them can be referred to the method embodiments part. Therefore, details are not repeated here.

[0138] Embodiment three:

[0139] Figure 3 The structure schematic diagram of an electronic device provided by an embodiment of the present application is shown in FIG. 3. As shown in FIG. 3, the electronic device 3 of this embodiment comprises at least one processor 30 (for example, a central processing unit (CPU), a microprocessor, a microcomputer, a microcontroller, a programmable logic unit (PLU), or the like). Figure 3 Figure 3 ​The diagram shows only one processor, 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 executes the computer program 32 to implement the steps in any of the above method embodiments.

[0140] The electronic device 3 can be a desktop computer, laptop, handheld computer, or cloud server, etc. This electronic device may include, but is not limited to, a processor 30 and a memory 31. Those skilled in the art will understand that... Figure 3 This is merely an example of electronic device 3 and does not constitute a limitation on electronic device 3. It may include more or fewer components than shown in the figure, or combine certain components, or different components. For example, it may also include input / output devices, network access devices, etc.

[0141] The processor 30 may be a Central Processing Unit (CPU), or it may be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), 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.

[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 be an external storage device of the electronic device 3, such as a plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, etc., equipped on the electronic device 3. Furthermore, the memory 31 may include both internal and external storage units of the electronic device 3. The memory 31 is used to store the operating system, applications, bootloader, data, and other programs, such as the program code of the computer program. The memory 31 can also be used to temporarily store data that has been output or will be output.

[0143] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the division of the above functional units and modules is exemplified, and in actual application, the above functions can be completed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to complete all or part of the functions described above. Each functional unit or module in the embodiment can be integrated in one processing unit, or each unit can exist physically separately, or two or more units can be integrated in one unit, and the integrated unit can be realized in the form of hardware or in the form of a software functional unit. In addition, the specific names of each functional unit or module are only for convenient distinction, and do not limit the protection scope of the present application. The specific working process of the units and modules in the system can refer to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0144] The embodiments of the present application further provide a network device, comprising 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 method embodiments described above when executing the computer program.

[0145] The embodiments of the present application further provide a computer readable storage medium, which stores a computer program, wherein the computer program is executable by a processor to implement the steps in any of the method embodiments described above.

[0146] The embodiments of the present application provide a computer program product, which, when running on an electronic device, enables the electronic device to implement the steps in any of the method embodiments described above.

[0147] The integrated unit, if implemented in the form of a software function unit and sold or used as an independent product, can be stored in a computer readable storage medium. Based on such understanding, the present application can implement all or part of the processes in the above-mentioned embodiment methods through a computer program to instruct relevant hardware to complete, and the computer program can be stored in a computer readable storage medium. When the computer program is executed by a processor, the steps of each method embodiment described above can be implemented. The computer program includes computer program code, which can be in the form of source code, object code, executable files or some intermediate forms. The computer readable medium at least includes any entity or device capable of carrying the computer program code to the photographing device / electronic device, recording medium, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signal, telecommunication signal and software distribution medium. For example, U disk, mobile hard disk, magnetic disk or optical disk, etc. In some jurisdictions, according to legislation and patent practice, the computer readable medium can not be an electrical carrier signal and a telecommunication signal.

[0148] In the above embodiments, the description of each embodiment has its own focus, and the parts not described or recorded in detail in a certain embodiment can be referred to the relevant description of other embodiments.

[0149] Those skilled in the art can appreciate that the units and algorithm steps of the examples described in combination with the embodiments disclosed herein can be realized by electronic hardware or a combination of computer software and electronic hardware. Whether the functions are realized in hardware or software depends on the specific application and design constraints of the technical solution. Professional technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the present application.

[0150] In the embodiments provided in the present application, it should be understood that the disclosed apparatus / network device and method can be implemented in other ways. For example, the apparatus / network device embodiments described above are only schematic. For example, the division of the modules or units is only a logical function division, and there can be another division manner in actual implementation. For example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the displayed or discussed mutual coupling or direct coupling or communication connection between each other can be indirect coupling or communication connection through some interface, device or unit, and can be electrical, mechanical or other forms.

[0151] The units described as separate components may or may not be physically separate, and the components displayed as units may or may not be physical units, that is, may be located in one place, or may also be distributed to multiple network units. Part or all of the units can be selected to achieve the purpose of the embodiment scheme according to actual needs.

[0152] The above embodiments are only used to illustrate the technical solutions of the present application, but not limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that the technical solutions recorded in the foregoing embodiments can still be modified, or some technical features can be replaced by equivalents; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the protection scope of the present application.

Claims

1. A wiping control method of a nuclear power wiping robot, characterized by, The method comprises: obtaining a first rotating speed corresponding to a cloth-unwinding motor and a second rotating speed corresponding to a cloth-winding motor, the cloth-unwinding motor being a motor corresponding to a cloth-unwinding roller of the nuclear power wiping robot, and the cloth-winding motor being a motor corresponding to a cloth-winding roller of the nuclear power wiping robot; controlling a target motor according to a rotating speed deviation between the first rotating speed and the second rotating speed, the target motor being the cloth-unwinding motor or the cloth-winding motor; the controlling the target motor according to the rotating speed deviation between the first rotating speed and the second rotating speed comprises: performing PID operation according to the rotating speed deviation to obtain a target control quantity; determining a driving signal according to the target control quantity; outputting the driving signal to the target motor to adjust the rotating speed of the target motor; wherein the target control quantity comprises an integral control quantity, and the integral control quantity is obtained according to the following steps: determining a current rotating speed deviation according to the rotating speed deviation and a target weight, the target weight being determined according to the size of the rotating speed deviation; determining the integral control quantity according to a historical rotating speed deviation and the current rotating speed deviation, the historical rotating speed deviation at least comprising the rotating speed deviation corresponding to a previous control process.

2. The wiping control method of the nuclear power wiping robot according to claim 1, wherein Before the determining the current rotating speed deviation according to the rotating speed deviation and the target weight, the method further comprises: in a case where the rotating speed deviation is less than or equal to a first threshold value, determining that the target weight is 1; in a case where the rotating speed deviation is greater than the first threshold value and less than or equal to a second threshold value, determining the target weight according to a ratio of the rotating speed deviation to the second threshold value, wherein the target weight decreases with the increase of the rotating speed deviation, and the second threshold value is greater than the first threshold value; in a case where the rotating speed deviation is greater than the second threshold value, determining that the target weight is 0.

3. The wiping control method of the nuclear power wiping robot according to claim 1, wherein The target control quantity comprises a differential control quantity, and the differential control quantity is obtained according to the following steps: performing differential operation on the rotating speed deviation to obtain a change rate of the rotating speed deviation; performing filtering processing on the change rate, and determining the differential control quantity according to the filtered change rate.

4. The wiping control method of the nuclear power wiping robot according to claim 1, wherein The target motor is the cloth-winding motor, and the controlling the target motor according to the rotating speed deviation between the first rotating speed and the second rotating speed comprises: performing closed-loop control on the cloth-winding motor according to the rotating speed deviation, the closed-loop control being used to adjust the second rotating speed so that the rotating speed deviation between the second rotating speed and the first rotating speed is less than or equal to a deviation threshold value.

5. The wiping control method of the nuclear power wiping robot according to any one of claims 1 to 4, characterized by, The obtaining the first rotating speed corresponding to the cloth-unwinding motor and the second rotating speed corresponding to the cloth-winding motor comprises: obtaining a first rotating distance of the cloth-unwinding motor within a target time period through an encoder, and determining the first rotating speed according to the first rotating distance and a time length corresponding to the target time period; obtaining a second rotating distance of the cloth-winding motor within the target time period through an encoder, and determining the second rotating speed according to the second rotating distance and the time length corresponding to the target time period.

6. A wiping control device of a nuclear power wiping robot, characterized by, The method comprises: The speed acquisition module is configured to acquire a first speed corresponding to a cloth-unwinding motor and a second speed corresponding to a cloth-winding motor, the cloth-unwinding motor being a motor corresponding to a cloth-unwinding roller of the nuclear power wiping robot, and the cloth-winding motor being a motor corresponding to a cloth-winding roller of the nuclear power wiping robot. The control module is configured to control a target motor according to a speed deviation between the first speed and the second speed, the target motor being the cloth-unwinding motor or the cloth-winding motor. The control module comprises: A PID operation unit configured to perform PID operation according to the speed deviation to obtain a target control amount. A driving signal determination unit configured to determine a driving signal according to the target control amount. A driving unit configured to output the driving signal to the target motor to adjust the speed of the target motor. The target control amount comprises an integral control amount, and the wiping control device of the nuclear power wiping robot further comprises: A current speed deviation determination module configured to determine a current speed deviation according to the speed deviation and a target weight, the target weight being determined according to the size of the speed deviation. An integral control amount calculation module configured to determine the integral control amount according to a historical speed deviation and the current speed deviation, the historical speed deviation at least comprising the speed deviation corresponding to a previous control process.

7. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, The processor executes the computer program to implement the method of any one of claims 1 to 5.

8. A computer program product, characterised in that, When the computer program product runs on the electronic device, the electronic device is caused to perform the method of any one of claims 1 to 5.

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