Nuclear power wiping robot control method and device and electronic equipment

Abstract

The invention is suitable for the technical field of robot control, and provides a nuclear power wiping robot control method and device and electronic equipment.The nuclear power wiping robot control method comprises the steps that a nuclear power wiping robot is controlled to move in a reactor pool so as to conduct water wiping operation and wiping operation; under the condition that the water scraping operation and the wiping operation of the reactor pool are completed, obtaining current radiation dose information of the reactor pool through a radiation dose monitor of the wiping robot; obtaining the radiation level of each area of the reactor pool according to the radiation dose information; and under the condition that it is determined that a secondary wiping area exists, the wiping robot is controlled to move according to the secondary wiping area so as to conduct the wiping operation, and the secondary wiping area comprises the area with the radiation level larger than or equal to a set radiation threshold value. The wiping effect of the reactor pool can be improved.

Description

Technical Field

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

[0002] During the operation of a nuclear power plant, a large amount of cooling water passes through the reactor pool to maintain the normal temperature of the reactor. During the cooling water circulation process, nuclear waste is usually deposited on the bottom of the reactor pool. In order to ensure the cleanliness of the internal environment of the reactor pool, when the reactor 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.

[0003] At present, in order to improve the safety of wiping residual water in the reactor pool, wiping robots can be used instead of manual labor to wipe the reactor pool. However, most of the current wiping robots are civilian robots. After completing the wiping of the reactor pool, it is impossible to determine whether the radiation level of the reactor pool meets the safety requirements. There are certain limitations, and it is difficult to meet the wiping requirements of the reactor pool. Summary of the invention

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

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

[0006] Control the nuclear power wiping robot to move in the reactor pool to perform scraping and wiping operations;

[0007] When the scraping operation and the wiping operation of the reactor pool are completed, obtaining the current radiation dose information of the reactor pool through the radiation dose monitor of the nuclear power wiping robot;

[0008] Acquiring the radiation level of each area of ​​the reactor pool according to the radiation dose information;

[0009] When it is determined that there is a secondary wiping area, the movement of the nuclear power wiping robot is controlled according to the secondary wiping area to perform the wiping operation, and the secondary wiping area includes an area where the radiation level is greater than or equal to a set radiation threshold.

[0010] In a second aspect, an embodiment of the present application provides a nuclear power wiping robot control device, comprising:

[0011] The first motion module is used to control the nuclear power wiping robot to move in the reactor pool to perform scraping and wiping operations;

[0012] a detection module, used for obtaining the current radiation dose information of the reactor pool through the radiation dose monitor of the wiping robot when the scraping operation and the wiping operation of the reactor pool are completed;

[0013] A radiation level determination module, used for obtaining the radiation level of each area of ​​the reactor pool according to the radiation dose information;

[0014] The second motion module is used to control the movement of the wiping robot according to the secondary wiping area to perform the wiping operation when it is determined that there is a secondary wiping area, and the secondary wiping area includes an area where the radiation level is greater than or equal to a set radiation threshold.

[0015] 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 the processor implements the steps of the nuclear power wiping robot control method described in the first aspect when executing the computer program.

[0016] 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 nuclear power wiping robot control method described in the first aspect are implemented.

[0017] 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 nuclear power wiping robot control method described in the first aspect above.

[0018] Compared with the prior art, the embodiments of the present invention have the following beneficial effects:

[0019] In the embodiment of the present application, the nuclear power wiping robot is first controlled to move in the reactor pool to perform the scraping and wiping operations. After completing the scraping and wiping operations of the reactor pool, the current radiation dose information of the reactor pool will be obtained through the radiation dose monitor integrated in the nuclear power wiping robot. Since the radiation level of each area in the reactor pool can be determined according to the radiation dose information, it is possible to better determine whether there is an area in the reactor pool with a radiation level greater than or equal to the set radiation threshold according to the radiation dose information, that is, to determine whether there is a secondary wiping area. Then, when it is determined that there is a secondary wiping area according to the radiation dose information, the movement of the nuclear power wiping robot will be controlled according to the secondary wiping area, so that the nuclear power wiping robot can continue to wipe the area where the radiation level does not meet the safety requirements, thereby controlling the radiation level of the reactor pool to meet the safety requirements and effectively ensuring the cleaning effect of the reactor pool. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] 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.

[0021] Figure 1 It is a flowchart of a nuclear power wiping robot control method provided in one embodiment of the present application;

[0022] Figure 2 It is a flow chart of another nuclear power wiping robot control method provided in an embodiment of the present application;

[0023] Figure 3 It is a structural schematic diagram of a nuclear power wiping robot control device provided in an embodiment of the present application;

[0024] Figure 4 It is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0025] 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.

[0026] 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.

[0027] 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.

[0028] 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.

[0029] 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.

[0030] Embodiment 1:

[0031] Figure 1 A schematic flow chart of a nuclear power wiping robot control method provided in an embodiment of the present application is shown, and is described in detail as follows:

[0032] S101, controlling the nuclear power wiping robot to move in the reactor pool to perform scraping and wiping operations.

[0033] The scraping operation refers to the extraction of residual water in the reactor pool through equipment with strong adsorption capacity such as vacuum motors during the movement of the nuclear power wiping robot.

[0034] The wiping operation refers to wiping the residual water in the reactor pool by a wiping device such as a wiping cloth or a rag during the movement of the nuclear power wiping robot to achieve the effect of cleaning and drying.

[0035] It should be understood that when controlling the nuclear power wiping robot to move in the reactor pool to perform the scraping operation, the nuclear power wiping robot can be first controlled to traverse the reactor pool once according to the set path (that is, the nuclear power wiping robot is controlled to move one circle in the reactor pool according to the set path, so that the nuclear power wiping robot passes through the corresponding area in the reactor pool) to complete the scraping operation, and then the robot is controlled to traverse in reverse according to the set path to complete the wiping operation; or, the nuclear power wiping robot can be controlled to traverse the reactor pool once according to the set path, and the scraping operation and the wiping operation can be performed simultaneously during the traversal process. The specific setting can be made according to actual needs.

[0036] Optionally, when controlling the nuclear power wiping robot to move in the reactor pool, the nuclear power wiping robot can be controlled to move at a preset speed (such as 0.3 meters per second). The preset speed can be determined based on the residual liquid condition in the reactor pool, or it can be set or input by the user. There is no specific limitation here.

[0037] S102. When the scraping operation and the wiping operation of the reactor pool are completed, the current radiation dose information of the reactor pool is obtained through the radiation dose monitor of the nuclear power wiping robot.

[0038] The above-mentioned radiation dose monitors include but are not limited to gamma dose detectors (also called γ-ray dose monitors), X-ray dose monitors or personal dose monitors that can detect radiation dose information such as radiation level or radiation intensity.

[0039] It should be understood that whether the nuclear power wiping robot has completed the wiping operation and the wiping operation can be judged based on the motion trajectory or other motion information of the nuclear power wiping robot. For example, assuming that the nuclear power wiping robot needs to be controlled to move one circle along a preset path to complete the wiping operation and the wiping operation, it can be judged based on the degree of overlap between the actual motion trajectory of the nuclear power wiping robot and the preset path whether the nuclear power wiping robot has completed the wiping operation and the wiping operation.

[0040] Optionally, since the detection ranges of different radiation dose monitors may differ, in order to accurately obtain the current radiation dose information of the reactor pool, a detection path can be planned according to the detection range of the radiation dose monitor loaded in the nuclear power wiping robot, and the movement of the nuclear power wiping robot can be controlled according to the detection path, so as to obtain more accurate radiation dose information.

[0041] In an embodiment of the present application, a radiation dose monitor is provided on the nuclear power wiping robot. After completing the scraping and wiping operations of the reactor pool, the current radiation dose information of the reactor pool is obtained through the radiation dose monitor to determine whether the current radiation level of the reactor pool is within a safe range.

[0042] S103. Obtain the radiation level of each area of ​​the reactor pool according to the radiation dose information.

[0043] It should be understood that when obtaining the radiation level of each area in the reactor pool, the size of an area can be determined according to the size of the reactor pool or user settings, and no specific limitation is made here.

[0044] It should be understood that when determining the radiation level of each area of ​​the reactor pool, the highest radiation level in the area can be used as the radiation level of the area, or the sum of the radiation levels of each position in the area can be used as the radiation level of the area. The specific setting can be made according to actual needs.

[0045] In an embodiment of the present application, after obtaining the radiation dose information of the reactor pool, the radiation level of each area can be determined according to the size of the set area and the radiation dose information of the reactor pool, so as to accurately judge whether the radiation level of each area exceeds the pre-set safety range, which is beneficial to ensuring the wiping effect and safety of the reactor pool.

[0046] S104. When it is determined that there is a secondary wiping area, the movement of the nuclear power wiping robot is controlled according to the secondary wiping area to perform the wiping operation. The secondary wiping area includes an area where the radiation level is greater than or equal to the set radiation threshold.

[0047] It should be understood that the set radiation threshold can be determined by deep learning models such as large models, intelligent algorithms or other methods based on the historical operating experience and feedback of the reactor, or can be set or input by the user, and no specific limitations are made here.

[0048] In order to control the radiation level of the reactor pool to be within a safe range, if there is an area in the reactor pool where the radiation level is greater than or equal to a set radiation threshold (such as 0.1μSv / h), the area where the radiation level is greater than or equal to the set radiation threshold is determined as a secondary wiping area. After all the secondary wiping areas in the reactor pool are determined, the movement of the nuclear power wiping robot will be controlled according to the secondary wiping area, so that the nuclear power wiping robot wipes the secondary wiping area, reduces the radiation level in the secondary wiping area, and makes it meet the safety requirements.

[0049] In the embodiment of the present application, the nuclear power wiping robot is first controlled to move in the reactor pool to perform the scraping and wiping operations. After completing the scraping and wiping operations of the reactor pool, the current radiation dose information of the reactor pool will be obtained through the radiation dose monitor integrated in the nuclear power wiping robot. Since the radiation dose information can reflect the radiation level of each area in the reactor pool, it can be better determined whether there is an area in the reactor pool with a radiation level greater than or equal to the set radiation threshold according to the radiation dose information, that is, whether there is a secondary wiping area, and then, in the case of determining that there is a secondary wiping area according to the radiation dose information, the movement of the nuclear power wiping robot will be controlled according to the secondary wiping area, so that the nuclear power wiping robot can continue to wipe the area where the radiation level does not meet the safety requirements, thereby controlling the radiation level of the reactor pool to meet the safety requirements and effectively ensuring the cleaning effect of the reactor pool.

[0050] In some embodiments, the above step S101 includes:

[0051] A global motion path is determined based on an environmental map of the reactor pool, wherein the environmental map is used to indicate obstacles present in the reactor pool.

[0052] The movement of the nuclear power wiping robot is controlled according to the global movement path and the preset movement speed of the nuclear power wiping robot.

[0053] Optionally, the above-mentioned environmental map can be established based on images collected in the reactor pool by the camera equipment of the nuclear power wiping robot or other means, or it can be established based on point cloud data collected by the laser radar in the nuclear power wiping robot, or it can be established based on the design drawings and layout information of the reactor pool, etc. The embodiments of the present application do not impose specific restrictions on this.

[0054] It should be understood that obstacles in the reactor pool include, but are not limited to, various nuclear power equipment (such as coolant pumps) and safety barriers (such as fuel pellets) in the reactor pool.

[0055] Since there are usually nuclear power equipment such as reactor pressure vessels in the reactor pool, in order to ensure the safety of nuclear power equipment, it is necessary to control the nuclear power wiping robot to move in the reactor pool. The motion path of the nuclear power wiping robot can be planned according to the environmental map of the reactor pool to obtain the global motion path, and the nuclear power wiping robot can be controlled to move according to the global motion path to avoid the nuclear power wiping robot colliding with nuclear power equipment during random movement.

[0056] Among them, in order to ensure the operating efficiency of the nuclear power wiping robot, the nuclear power wiping robot can be controlled to move at a preset speed (such as 0.5 meters per second) according to the global motion path, and the distance that the nuclear power wiping robot moves according to the global motion path is controllable. Therefore, through the above processing, the time required for the nuclear power wiping robot to complete the wiper and wiping operations can be controlled, thereby effectively controlling the operating efficiency of the nuclear power wiping robot.

[0057] It should be understood that when the nuclear power wiping robot is controlled to move in the reactor pool to perform wiper operations and wiping operations respectively, the movement speed of the nuclear power wiping robot in the wiper operation state and the movement speed of the nuclear power wiping robot in the wiping operation state can be different speeds, that is, different wiper movement speeds and movement speeds can be set, and the movement of the nuclear power wiping robot can be controlled according to the global movement path and the wiper movement speed to perform the wiper operation; the movement of the nuclear power wiping robot can be controlled according to the global movement path and the wiping movement speed to perform the wiping operation.

[0058] It should be understood that the preset movement speed can be determined by a deep learning model such as a large model, an intelligent algorithm or other methods, or can be set or input by the user, and no specific restrictions are made here.

[0059] As an example, the wiper movement speed can be determined according to the liquid residue status of the reactor pool; the wiping movement speed can be determined according to the initial radiation dose information, and the initial radiation dose information reflects the radiation level of each area of ​​the reactor pool after the wiper operation is completed.

[0060] In an embodiment of the present application, a global motion path is determined based on an environmental map that can reflect the obstacles existing in the reactor pool, and the nuclear power wiping robot is then controlled to move according to the global motion path and a preset motion speed to avoid the nuclear power wiping robot colliding with obstacles such as nuclear power equipment during movement, thereby ensuring the normal operation of the nuclear power wiping robot and effectively ensuring nuclear power safety.

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

[0062] The point cloud data of the reactor pool is acquired by the laser radar of the nuclear power wiping robot, and an environmental map of the reactor pool is established based on the point cloud data. The environmental map is used to indicate obstacles existing in the reactor pool.

[0063] Correspondingly, the above-mentioned control of the nuclear power wiping robot to move in the reactor pool includes:

[0064] The nuclear power wiping robot is controlled to move in the reactor pool according to the environmental map.

[0065] It should be understood that the laser radar in the nuclear power wiping robot can be a single-line laser radar or a multi-line laser radar.

[0066] Since the laser radar is not affected by factors such as light, it can obtain accurate point cloud data in various environments and can cover the reactor pool in a relatively short time, and has a high data acquisition efficiency. Therefore, in the embodiment of the present application, the point cloud data of the reactor pool is obtained by the laser radar loaded on the nuclear power wiping robot, and then the environmental map of the reactor pool is established based on the point cloud data. A high-precision environmental map can be obtained with high efficiency, and then, the nuclear power wiping robot is controlled to move in the reactor pool according to the high-precision environmental map. It can better avoid obstacles in the reactor pool and prevent the nuclear power wiping robot from colliding with nuclear power equipment during movement, thereby improving the motion control effect of the nuclear power wiping robot and effectively ensuring the safety of nuclear power equipment in the reactor pool.

[0067] In some embodiments, the nuclear power cleaning robot includes at least two driving wheels on different sides, and the above-mentioned control of the movement of the nuclear power cleaning robot according to the above-mentioned global motion path and the preset motion speed of the above-mentioned nuclear power cleaning robot includes:

[0068] When it is determined according to the global motion path that the nuclear power wiping robot needs to perform circular motion at the next moment, the target driving speed corresponding to each of the driving wheels is determined. The target driving speed is determined according to the circular motion and the preset motion speed, and is used to reflect the speed that the driving motor corresponding to the driving wheel should reach when the nuclear power wiping robot performs the circular motion at the preset motion speed.

[0069] The corresponding driving motor is controlled to rotate according to the target driving speed.

[0070] It should be understood that the movement of the nuclear power wiping robot may include linear movement and circular movement, wherein the circular movement means that the nuclear power wiping robot moves along an arc.

[0071] The current motion state of the driving wheel includes at least the motion direction of the driving wheel, and may also include information such as the rotation speed of the driving wheel.

[0072] It should be understood that the driving wheels of the nuclear power wiping robot are used to provide the driving force and steering force required for the movement of the nuclear power wiping robot.

[0073] Because the movement direction of the nuclear power wiping robot needs to be constantly changed when controlling the nuclear power wiping robot to perform circular motion, the nuclear power wiping robot needs to overcome the inertial force generated by the change of direction, and in the circular motion, sufficient centripetal force needs to be provided to maintain the motion trajectory of the nuclear power wiping robot on the arc. The consumption of additional energy will affect the movement speed of the nuclear power wiping robot. Therefore, in order to ensure the operating efficiency of the nuclear power wiping robot, if it is determined that the nuclear power wiping robot needs to perform circular motion at the next moment, the speed required for the drive motor corresponding to each drive wheel of the nuclear power wiping robot to reach when the robot performs the circular motion at a preset speed can be calculated based on the circular motion required by the nuclear power wiping robot, and the target driving speed corresponding to each driving wheel can be obtained, so as to control the rotation of the corresponding driving motor according to the target driving speed, thereby controlling the speed of each driving wheel.

[0074] It should be understood that when a nuclear power wiping robot provided with at least two driving wheels on different sides performs circular motion, the movement direction of the nuclear power wiping robot can be controlled by controlling the rotational speed of the driving wheels on different sides to reach different rotational speeds, that is, the rotational speed that the driving wheels on different sides should reach is determined separately according to the circular motion required to be performed by the nuclear power wiping robot, and the movement direction and speed of the wiping robot are controlled by the speed difference of the driving wheels on different sides.

[0075] Optionally, when determining the target driving speed based on the circular motion and the preset motion speed, the arc radius or radian corresponding to the circular motion can be determined first, and then the speed that each driving wheel of the nuclear power wiping robot should reach (assuming it is called the expected driving wheel speed) is determined based on the arc radius or radian and the kinematic model of the robot. Then, for each driving wheel, the driving motor speed required to make the driving wheel reach its expected driving wheel speed is calculated based on the expected driving wheel speed to obtain the target driving speed.

[0076] It should be understood that, since the nuclear power wiping robot includes at least two driving wheels on different sides, the movement speed of the nuclear power wiping robot is synthesized by the movement speed of each driving wheel. Therefore, the kinematic model of the nuclear power wiping robot can indicate the relationship between the movement speed of the robot and the rotation speed of each driving wheel of the nuclear power wiping robot, so that when the robot is controlled to perform linear motion or circular motion, the rotation speed required for each driving wheel can be better calculated according to the robot's kinematic model and the preset movement speed, so as to accurately control the nuclear power wiping robot to move at a preset movement speed and direction. It should be understood that the kinematic model of the nuclear power wiping robot can be constructed based on information such as the structural composition of the nuclear power wiping robot and the load of each area of ​​the robot.

[0077] In an embodiment of the present application, when it is determined that the nuclear power wiping robot needs to perform circular motion at the next moment based on the global motion path of the nuclear power wiping robot, the required rotation speed of the drive motor corresponding to each drive wheel will be calculated based on the circular motion required by the nuclear power wiping robot and the preset motion speed to be achieved, so that each drive wheel can provide a sufficient rotation speed, thereby controlling the nuclear power wiping robot to perform circular motion at a preset motion speed, that is, controlling the nuclear power wiping robot to move according to the preset motion speed and the corresponding motion direction, thereby ensuring the operating efficiency of the nuclear power wiping robot.

[0078] In some embodiments, the above-mentioned control of the movement of the nuclear power cleaning robot according to the above-mentioned global movement path and the preset movement speed of the above-mentioned nuclear power cleaning robot includes:

[0079] When the nuclear power wiping robot is in motion, it is detected whether there is an obstacle within a preset distance in the motion direction of the nuclear power wiping robot.

[0080] When it is detected that the obstacle exists within a preset distance in the moving direction, the obstacle avoidance local path and obstacle avoidance moving speed are determined according to the dynamic window algorithm and the obstacle information of the obstacle.

[0081] The nuclear power wiping robot is controlled to perform obstacle avoidance movement according to the above-mentioned obstacle avoidance local path and the above-mentioned obstacle avoidance movement speed.

[0082] After the obstacle avoidance movement is completed, the movement of the nuclear power wiping robot is controlled according to the real-time position information of the nuclear power wiping robot, the global movement path and the preset movement speed.

[0083] The Dynamic Window Approach (DWA) algorithm is an algorithm for path planning and obstacle avoidance. The DWA takes into account the robot's speed and acceleration limits, as well as obstacles in the environment, and calculates a dynamic window within which it evaluates all possible moves to find the optimal path.

[0084] It should be understood that the movement directions of the nuclear power wiping robot include but are not limited to forward, backward, left turn and right turn.

[0085] It should be understood that the above-mentioned preset distance can be automatically determined by deep learning models such as large models or other intelligent algorithms based on information such as the nature and distribution of obstacles in the reactor pool, or can be set or input by the user, and no specific limitation is made here.

[0086] The obstacle information of the above obstacles includes but is not limited to information such as the location, size, shape and importance of the obstacles.

[0087] Optionally, a ranging sensor in the nuclear power wiping robot (such as an ultrasonic ranging sensor or an infrared sensor, etc.) can be used to detect whether there are obstacles within a preset distance in the direction of movement of the nuclear power wiping robot. Alternatively, a ranging sensor in the nuclear power wiping robot and images captured by a camera device can be used to detect whether there are obstacles within a preset distance in the direction of movement of the nuclear power wiping robot.

[0088] In some embodiments, considering that new obstacles may appear in the reactor pool, if the detected obstacle does not exist in the current environment map, the environment map can be updated according to the information of the detected obstacle to ensure the accuracy of the environment map.

[0089] In order to reduce the vibration and instability of the nuclear power wiping robot during the obstacle avoidance process, when an obstacle is detected within a preset distance in the movement direction of the nuclear power wiping robot, the optimal path and obstacle avoidance movement speed for the nuclear power wiping robot to avoid the obstacle can be determined through a dynamic window algorithm and the obstacle information of the existing obstacle. The optimal path is used as the local obstacle avoidance path of the nuclear power wiping robot, and the nuclear power wiping robot is controlled to perform obstacle avoidance movement according to the local obstacle avoidance path and obstacle avoidance movement speed to ensure that the nuclear power wiping robot can avoid the obstacle safely and efficiently.

[0090] After the obstacle avoidance movement is completed, that is, after the nuclear power wiping robot is controlled to reach the end point of the local obstacle avoidance path according to the local obstacle avoidance path, the nuclear power wiping robot can be controlled to move according to the real-time position information of the nuclear power wiping robot (usually the end point of the local obstacle avoidance path at this time) and the global motion path, so that it returns to the trajectory corresponding to the global motion path and continues to move according to the global motion path. After the obstacle avoidance movement is completed, the nuclear power wiping robot is controlled to move according to the preset movement speed.

[0091] Optionally, after the obstacle avoidance movement is completed, the global motion path can be updated according to the actual motion trajectory of the nuclear power wiping robot performing the obstacle avoidance movement.

[0092] In an embodiment of the present application, when an obstacle exists within a preset distance in the direction of movement of the nuclear power wiping robot, a local obstacle avoidance path and an obstacle avoidance movement speed for avoiding the obstacle are determined through a dynamic window algorithm and obstacle information of the obstacle. Since the dynamic window algorithm can fully consider the physical limitations and environmental conditions of the nuclear power wiping robot when planning the path, and generate a local obstacle avoidance path and a relatively smooth obstacle avoidance movement speed that best suits the nuclear power wiping robot, the nuclear power wiping robot is controlled to perform obstacle avoidance movement according to the local obstacle avoidance path and the obstacle avoidance movement speed, which can better ensure the movement stability and controllability of the nuclear power wiping robot during the obstacle avoidance process, and is conducive to improving the control effect of the nuclear power wiping robot.

[0093] In some embodiments, after the above step S101, the method further includes:

[0094] When the nuclear power wiping robot is in the wiper operation state, or when there is a deviation between the actual position information of the nuclear power wiping robot and the expected position information, the actual driving speed corresponding to the driving motor of the nuclear power wiping robot is obtained, and the expected position information is determined according to the global motion path and the preset motion speed.

[0095] The drive motor is controlled according to a first deviation between the actual drive speed and the expected drive speed, and the expected drive speed is determined according to the preset motion speed.

[0096] The above-mentioned expected position information is determined according to the above-mentioned global motion path and the above-mentioned preset motion speed, and is used to indicate the position that the nuclear power wiping robot is expected to reach at the current moment.

[0097] Since the nuclear power wiping robot needs to absorb residual water in the reactor pool during the water absorption stage, the load of the nuclear power wiping robot will usually continue to increase during the water absorption stage, which may continue to have a significant impact on the rotation speed of the drive motor of the nuclear power wiping robot, thereby affecting the movement speed of the nuclear power wiping robot. Therefore, when the nuclear power wiping robot is in the wiper operation state, that is, in the process of controlling the nuclear power wiping robot to perform the wiper operation, the actual driving speed of the drive motor of the nuclear power wiping robot can be obtained, and then the drive motor can be controlled according to the first deviation between the actual driving speed and the expected driving speed, thereby reducing and eliminating the first deviation, so that the actual driving speed of the drive motor approaches the expected driving speed, that is, the actual movement speed of the nuclear power wiping robot approaches the preset movement speed, effectively ensuring the wiper efficiency of the nuclear power wiping robot.

[0098] Optionally, when the actual driving speed corresponding to the driving motor is obtained when the nuclear power wiping robot is in the water scraping operation state, the actual driving speed can be obtained according to the set first sampling frequency. The first sampling frequency can be calculated based on a deep learning model such as a large model or other intelligent algorithms according to the motion control requirements of the water suction operation (such as control accuracy and / or dynamic response speed), or can be set or input by the user, and can be set according to actual needs.

[0099] Alternatively, in order to reduce the control complexity of the nuclear power wiping robot, the actual position information of the nuclear power wiping robot can also be obtained. If there is a deviation between the actual position information of the nuclear power wiping robot and the expected position information, it means that there is a deviation between the actual movement speed of the nuclear power wiping robot and the expected movement speed, so that its actual position information does not match the expected position information. At this time, the actual driving speed corresponding to the driving motor of the nuclear power wiping robot is obtained, and the driving motor is controlled according to the first deviation between the actual driving speed and the expected driving speed, so that the actual movement speed of the nuclear power wiping robot approaches the preset movement speed, thereby ensuring the operating efficiency of the nuclear power wiping robot.

[0100] In some embodiments, when the nuclear power wiping robot is in a wiper operation state and there is a deviation between the actual position information of the nuclear power wiping robot and the expected position information, the actual driving speed corresponding to the driving motor of the nuclear power wiping robot can be obtained.

[0101] In some embodiments, the distance deviation can be determined based on the actual position information and expected position information of the nuclear power wiping robot, and the degree of position deviation of the nuclear power wiping robot can be judged by quantifying the distance deviation. When the distance deviation is greater than or equal to the set distance threshold (such as 0.3 meters), the actual driving speed corresponding to the driving motor of the nuclear power wiping robot is obtained.

[0102] In some embodiments, when a first deviation between the actual driving speed and the expected driving speed is equal to a first deviation threshold (eg, 10 revolutions per second), the driving motor may be controlled according to the first deviation.

[0103] Optionally, when the drive motor is controlled according to the first deviation, feedforward control and / or feedback control may be performed on the drive motor according to the first deviation.

[0104] The above-mentioned feedforward control is an open-loop control method that compensates for disturbances (such as changes in load). The above-mentioned feedback control is a closed-loop control method that measures the output signal of the motor (such as speed or position, etc.), compares it with the expected signal, generates an error signal, and then adjusts the input control signal (such as voltage or current) according to the error signal to control the actual output signal of the motor to meet the expected signal.

[0105] In the embodiments of the present application, it is considered that the complex environment of the reactor pool usually affects the operation of the motor in the nuclear power wiping robot, and the load of the nuclear power wiping robot during the wiping operation usually continues to change, which will continue to have a large impact on the rotation speed of the target motor of the nuclear power wiping robot. Therefore, when the nuclear power wiping robot performs the wiping operation or the actual position information does not match the expected position information, the actual driving speed corresponding to the driving motor of the nuclear power wiping robot is obtained, and the driving motor is controlled according to the first deviation between the actual driving speed and the expected driving speed, so as to reduce and eliminate the first deviation, so that the actual driving speed of the driving motor approaches the expected driving speed, that is, the actual movement speed of the nuclear power wiping robot approaches the preset movement speed, thereby effectively ensuring the operation efficiency of the nuclear power wiping robot.

[0106] In some embodiments, after the above step S101, the method further includes:

[0107] When the nuclear power wiping robot is in the wiping operation state, the actual cloth releasing speed corresponding to the cloth releasing motor and the actual cloth collecting speed corresponding to the cloth collecting motor are obtained. The cloth releasing motor is the motor corresponding to the cloth releasing roller of the nuclear power wiping robot, and the cloth collecting motor is the motor corresponding to the cloth collecting roller of the nuclear power wiping robot.

[0108] The cloth placing motor or the cloth collecting motor is controlled according to a second deviation between the actual cloth placing rotation speed and the actual cloth collecting rotation speed.

[0109] It should be understood that the nuclear power wiping robot is provided with 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.

[0110] Among them, in the nuclear power wiping robot, the cloth release motor usually drives the cloth release roller to rotate, and the cloth collection motor drives the cloth collection roller to rotate. Among them, the cloth release motor and the cloth collection 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, so that the reactor pool can be wiped continuously and evenly to ensure the wiping effect.

[0111] Optionally, when obtaining the actual cloth releasing speed corresponding to the cloth releasing motor and the actual cloth collecting speed corresponding to the cloth collecting motor, the actual cloth releasing speed and the actual cloth collecting speed can be obtained by a sensory method such as an encoder or a Hall sensor, or by a sensorless method such as an observer, a frequency conversion method and a sensorless magnetic field oriented control. The actual cloth releasing speed and the actual cloth collecting speed can also be obtained by a combination of sensory and sensorless methods. The specific setting can be made according to actual needs.

[0112] Since the complex environment of the reactor pool 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 a wiping operation state, that is, when the nuclear power wiping robot is performing a wiping operation, the actual cloth-releasing rotation speed corresponding to the cloth-releasing motor can be obtained, and at the same time, the actual cloth-collecting 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 actual cloth-releasing rotation speed and the actual cloth-collecting rotation speed.

[0113] It should be understood that during the wiping operation of the nuclear power wiping robot, the actual cloth releasing speed and cloth collecting speed can be obtained by random sampling, or by fixed sampling frequency.

[0114] For example, during the wiping operation of the nuclear power wiping robot, the actual speed of the cloth release and cloth collection is obtained at the set target sampling frequency. The target sampling frequency can be calculated based on a deep learning model such as a large model or other intelligent algorithms according to the influence of the environment in the reactor pool on the cloth release motor and cloth collection motor, or it can be set or input by the user, and can be set according to actual needs.

[0115] In order to reduce the control complexity, the cloth collecting motor can be fixedly controlled according to the second deviation between the actual cloth releasing speed and the actual cloth collecting speed. At this time, the actual cloth releasing speed corresponding to the cloth releasing motor is used as the expected speed of the cloth collecting motor, and the cloth collecting motor is controlled according to the second deviation between the actual cloth collecting speed corresponding to the cloth collecting motor and the actual cloth releasing 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 wiping operation.

[0116] It should be understood that when the cloth-releasing motor or the cloth-collecting motor is controlled according to the second deviation between the actual cloth-releasing rotation speed and the actual cloth-collecting rotation speed, the cloth-releasing motor or the cloth-collecting motor may be subjected to feedback control or feedforward control.

[0117] In some embodiments, when a second deviation between an actual cloth-releasing rotation speed and an actual cloth-collecting rotation speed is equal to a second deviation threshold (eg, 2 revolutions per second), the cloth-releasing motor or the cloth-collecting motor may be controlled according to the second deviation.

[0118] In an embodiment of the present application, the cloth-releasing motor or the cloth-collecting motor is controlled according to a second deviation between an actual cloth-releasing rotation speed and an actual cloth-collecting rotation speed, thereby reducing the deviation between the rotation speed of the cloth-releasing motor and the rotation speed of the cloth-collecting motor, so that the nuclear power wiping robot can release and collect cloth at a consistent speed when performing wiping operations, 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 cloth accumulation during the wiping process or even causes the nuclear power wiping robot to stop working, which is beneficial to improving the wiping operation efficiency of the nuclear power wiping robot.

[0119] In some embodiments, after the above step S104, the method further includes:

[0120] When the wiping operation is completed, the steps of obtaining the current radiation dose information of the reactor pool through the radiation dose monitor of the nuclear power wiping robot and controlling the movement of the nuclear power wiping robot according to the secondary wiping area are performed until it is determined that the secondary wiping area does not exist based on the latest radiation dose information.

[0121] like Figure 2 As shown, in order to fully ensure the cleaning effect of the reactor pool, the movement of the nuclear power wiping robot is controlled according to the secondary wiping area. After completing the wiping operation of the secondary wiping area, the radiation dose monitor of the nuclear power wiping robot will be used again to obtain the current radiation dose information of the reactor pool.

[0122] If it is determined that there is a secondary wiping area based on the latest radiation dose information obtained, the movement of the nuclear power wiping robot needs to be controlled again based on the current secondary wiping area to perform wiping operations on the newly determined secondary wiping area.

[0123] If it is determined based on the latest radiation dose information that there is currently no area with a radiation level greater than or equal to the radiation threshold, that is, if it is determined that there is no secondary wiping area, there is no need to control the movement of the nuclear power wiping robot again to perform the wiping operation.

[0124] In some embodiments, after completing at least N wiping operations, if the total radiation level of the reactor pool is determined to be less than or equal to the overall radiation threshold (such as 2μSv / h) based on the latest radiation dose information, there is no need to control the movement of the nuclear power wiping robot again, that is, there is no need to perform the wiping operation again.

[0125] By cycling through the above steps, the radiation level in each area of ​​the reactor pool is controlled to be less than the radiation level, thereby controlling the radiation level of the reactor pool to meet safety requirements and effectively ensuring the cleaning effect of the reactor pool.

[0126] 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.

[0127] Embodiment 2:

[0128] Corresponding to the control method of the nuclear power wiping robot described in the above embodiment, Figure 3 A structural block diagram of a nuclear power wiping robot control device 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.

[0129] Reference Figure 3 The device includes: a first motion module 31, a detection module 32, a radiation level determination module 33, and a second motion module 34.

[0130] The first motion module 31 is used to control the nuclear power wiping robot to move in the reactor pool to perform scraping and wiping operations;

[0131] A detection module 32, configured to obtain current radiation dose information of the reactor pool through a radiation dose monitor of the wiping robot when the scraping operation and the wiping operation of the reactor pool are completed;

[0132] A radiation level determination module 33, used for obtaining the radiation level of each area of ​​the reactor pool according to the radiation dose information;

[0133] The second motion module 34 is used to control the movement of the wiping robot according to the secondary wiping area to perform the wiping operation when it is determined that there is a secondary wiping area, and the secondary wiping area includes an area where the radiation level is greater than or equal to the set radiation threshold.

[0134] In the embodiment of the present application, the nuclear power wiping robot is first controlled to move in the reactor pool to perform the scraping and wiping operations. After completing the scraping and wiping operations of the reactor pool, the current radiation dose information of the reactor pool will be obtained through the radiation dose monitor integrated in the nuclear power wiping robot. Since the radiation dose information can reflect the radiation level of each area in the reactor pool, it can be better determined whether there is an area in the reactor pool with a radiation level greater than or equal to the set radiation threshold according to the radiation dose information, that is, whether there is a secondary wiping area, and then, in the case of determining that there is a secondary wiping area according to the radiation dose information, the movement of the nuclear power wiping robot will be controlled according to the secondary wiping area, so that the nuclear power wiping robot can continue to wipe the area where the radiation level does not meet the safety requirements, thereby controlling the radiation level of the reactor pool to meet the safety requirements and effectively ensuring the cleaning effect of the reactor pool.

[0135] In some embodiments, the first motion module 31 includes:

[0136] The global motion path determination unit is used to determine the global motion path according to the environment map of the reactor pool, wherein the environment map is used to indicate obstacles existing in the reactor pool.

[0137] The first motion control unit is used to control the movement of the nuclear power wiping robot according to the global motion path and the preset motion speed of the nuclear power wiping robot.

[0138] In some embodiments, the nuclear power cleaning robot comprises at least two driving wheels on different sides, and the first motion module 31 further comprises:

[0139] The target driving speed determination unit is used to determine the target driving speed corresponding to each of the above-mentioned driving wheels when it is determined according to the above-mentioned global motion path that the above-mentioned nuclear power wiping robot needs to perform circular motion at the next moment. The above-mentioned target driving speed is determined according to the above-mentioned circular motion and the above-mentioned preset motion speed, and is used to reflect the speed that the driving motor corresponding to the driving wheel of the above-mentioned nuclear power wiping robot should reach when the above-mentioned nuclear power wiping robot performs the above-mentioned circular motion at the above-mentioned preset motion speed.

[0140] The driving unit is used to control the corresponding driving motor to rotate according to the target driving speed.

[0141] In some embodiments, the first motion module 31 further includes:

[0142] The obstacle detection unit is used to detect whether there is an obstacle within a preset distance in the moving direction of the nuclear power wiping robot when the nuclear power wiping robot is in motion.

[0143] The obstacle avoidance calculation unit is used to determine the obstacle avoidance local path and obstacle avoidance movement speed according to the dynamic window algorithm and the obstacle information of the obstacle when the obstacle is detected to exist within a preset distance in the above-mentioned movement direction.

[0144] The obstacle avoidance motion unit is used to control the above-mentioned nuclear power wiping robot to perform obstacle avoidance motion according to the above-mentioned obstacle avoidance local path and the above-mentioned obstacle avoidance motion speed.

[0145] The global motion control unit is used to control the movement of the nuclear power wiping robot according to the real-time position information of the nuclear power wiping robot, the global motion path and the preset motion speed after the obstacle avoidance movement is completed.

[0146] In some embodiments, the above-mentioned nuclear power wiping robot control device further includes:

[0147] A driving speed acquisition module is used to obtain the actual driving speed corresponding to the driving motor of the above-mentioned nuclear power wiping robot when the above-mentioned nuclear power wiping robot is in a wiping operation state, or when there is a deviation between the actual position information of the above-mentioned nuclear power wiping robot and the expected position information. The above-mentioned expected position information is determined according to the above-mentioned global motion path and the above-mentioned preset motion speed.

[0148] The drive compensation control module is used to control the drive motor according to a first deviation between the actual drive speed and the expected drive speed, wherein the expected drive speed is determined according to the preset motion speed.

[0149] In some embodiments, the above-mentioned nuclear power wiping robot control device further includes:

[0150] The wiping speed acquisition module is used to obtain the actual cloth releasing speed corresponding to the cloth releasing motor and the actual cloth collecting speed corresponding to the cloth collecting motor when the above-mentioned nuclear power wiping robot is in the wiping operation state. The above-mentioned cloth releasing motor is the motor corresponding to the cloth releasing roller of the nuclear power wiping robot, and the above-mentioned cloth collecting motor is the motor corresponding to the cloth collecting roller of the nuclear power wiping robot.

[0151] The wiping compensation control module is used to control the cloth placing motor or the cloth collecting motor according to a second deviation between the actual cloth placing rotation speed and the actual cloth collecting rotation speed.

[0152] In some embodiments, the above-mentioned nuclear power wiping robot control device further includes:

[0153] A map building module is used to obtain the point cloud data of the reactor pool through the laser radar of the nuclear power wiping robot, and to build an environmental map of the reactor pool based on the point cloud data, wherein the environmental map is used to indicate obstacles existing in the reactor pool.

[0154] Correspondingly, the first motion module 31 is specifically used for:

[0155] The nuclear power wiping robot is controlled to move in the reactor pool according to the environmental map.

[0156] In some embodiments, the above-mentioned nuclear power wiping robot control device further includes:

[0157] The cyclic wiping module is used to execute the steps of obtaining the current radiation dose information of the reactor pool through the radiation dose monitor of the nuclear power wiping robot and controlling the movement of the nuclear power wiping robot according to the secondary wiping area after completing the wiping operation, until it is determined that the secondary wiping area does not exist based on the latest radiation dose information.

[0158] 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.

[0159] Embodiment three:

[0160] Figure 4 This is a schematic diagram of the structure of an electronic device provided by an embodiment of the present application. Figure 4 As shown, the electronic device 4 of this embodiment includes: at least one processor 40 ( Figure 4 Only one processor is shown in the figure), a memory 41, and a computer program 42 stored in the memory 41 and executable on the at least one processor 40, wherein the processor 40 implements the steps in any of the above-mentioned method embodiments when executing the computer program 42.

[0161] The electronic device 4 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 40 and a memory 41. Those skilled in the art will appreciate that Figure 4 It is only an example of the electronic device 4 and does not constitute a limitation on the electronic device 4. 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.

[0162] The processor 40 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.

[0163] In some embodiments, the memory 41 may be an internal storage unit of the electronic device 4, such as a hard disk or memory of the electronic device 4. In other embodiments, the memory 41 may also be an external storage device of the electronic device 4, 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 4. Further, the memory 41 may also include both an internal storage unit of the electronic device 4 and an external storage device. The memory 41 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 41 may also be used to temporarily store data that has been output or is to be output.

[0164] 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.

[0165] 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.

[0166] 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.

[0167] 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.

[0168] 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 sports 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.

[0169] 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.

[0170] 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.

[0171] 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.

[0172] 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.

[0173] 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 control method for a nuclear power wiping robot, characterized in that: include: Control the nuclear power wiping robot to move in the reactor pool to perform scraping and wiping operations; When the scraping operation and the wiping operation of the reactor pool are completed, obtaining the current radiation dose information of the reactor pool through the radiation dose monitor of the nuclear power wiping robot; Acquiring the radiation level of each area of ​​the reactor pool according to the radiation dose information; When it is determined that there is a secondary wiping area, the movement of the nuclear power wiping robot is controlled according to the secondary wiping area to perform the wiping operation, and the secondary wiping area includes an area where the radiation level is greater than or equal to a set radiation threshold.

2. The control method of the nuclear power wiping robot according to claim 1, characterized in that: The control of the nuclear power wiping robot to move in the reactor pool includes: determining a global motion path based on an environmental map of a reactor pool, the environmental map being used to indicate obstacles present in the reactor pool; The movement of the nuclear power wiping robot is controlled according to the global motion path and the preset motion speed of the nuclear power wiping robot.

3. The control method of the nuclear power wiping robot according to claim 2, characterized in that: The nuclear power wiping robot comprises at least two driving wheels on different sides, and the movement of the nuclear power wiping robot is controlled according to the global motion path and the preset motion speed of the nuclear power wiping robot, including: In the case where it is determined according to the global motion path that the nuclear power wiping robot needs to perform circular motion at the next moment, the target driving speed corresponding to each of the driving wheels is determined, and the target driving speed is determined according to the circular motion and the preset motion speed, and is used to reflect the speed that the driving motor corresponding to the driving wheel should reach when the nuclear power wiping robot performs the circular motion at the preset motion speed; The corresponding driving motor is controlled to rotate according to the target driving speed.

4. The control method of the nuclear power wiping robot according to claim 2, characterized in that: The controlling the movement of the nuclear power wiping robot according to the global movement path and the preset movement speed of the nuclear power wiping robot comprises: When the nuclear power wiping robot is in motion, detecting whether there is an obstacle within a preset distance in the motion direction of the nuclear power wiping robot; When the obstacle is detected within a preset distance in the direction of motion, determining an obstacle avoidance local path and an obstacle avoidance motion speed according to a dynamic window algorithm and obstacle information of the obstacle; Controlling the nuclear power wiping robot to perform obstacle avoidance movement according to the obstacle avoidance local path and the obstacle avoidance movement speed; After the obstacle avoidance movement is completed, the movement of the nuclear power wiping robot is controlled according to the real-time position information of the nuclear power wiping robot, the global movement path and the preset movement speed.

5. The control method of the nuclear power wiping robot according to claim 2, characterized in that: After controlling the nuclear power wiping robot to move in the reactor pool, the method further includes: When the nuclear power wiping robot is in a wiping operation state, or when there is a deviation between the actual position information of the nuclear power wiping robot and the expected position information, obtaining the actual driving speed corresponding to the driving motor of the nuclear power wiping robot, wherein the expected position information is determined according to the global motion path and the preset motion speed; The drive motor is controlled according to a first deviation between the actual drive speed and an expected drive speed, wherein the expected drive speed is determined according to the preset motion speed.

6. The control method of the nuclear power wiping robot according to claim 1, characterized in that: After controlling the nuclear power wiping robot to move in the reactor pool, the method further includes: When the nuclear power wiping robot is in a wiping operation state, an actual cloth-releasing rotation speed corresponding to a cloth-releasing motor and an actual cloth-collecting rotation speed corresponding to a cloth-collecting motor are obtained, wherein the cloth-releasing motor is a motor corresponding to a cloth-releasing roller of the wiping robot, and the cloth-collecting motor is a motor corresponding to a cloth-collecting roller of the wiping robot; The cloth-releasing motor or the cloth-collecting motor is controlled according to a second deviation between the actual cloth-releasing rotation speed and the actual cloth-collecting rotation speed.

7. The control method of a nuclear power wiping robot according to any one of claims 1 to 6, characterized in that: Before controlling the nuclear power wiping robot to move in the reactor pool, the method further includes: Acquiring point cloud data of the reactor pool by means of a laser radar of the nuclear power wiping robot, and establishing an environmental map of the reactor pool according to the point cloud data, wherein the environmental map is used to indicate obstacles existing in the reactor pool; Correspondingly, the control of the nuclear power wiping robot to move in the reactor pool includes: The nuclear power wiping robot is controlled to move in the reactor pool according to the environmental map.

8. The control method of a nuclear power wiping robot according to any one of claims 1 to 6, characterized in that: After controlling the movement of the nuclear power wiping robot according to the secondary wiping area, the method further includes: When the wiping operation is completed, the steps of obtaining the current radiation dose information of the reactor pool through the radiation dose monitor of the nuclear power wiping robot and controlling the movement of the nuclear power wiping robot according to the secondary wiping area are executed until it is determined that the secondary wiping area does not exist based on the latest radiation dose information.

9. A nuclear power wiping robot control device, characterized in that: include: The first motion module is used to control the nuclear power wiping robot to move in the reactor pool to perform scraping and wiping operations; a detection module, used for obtaining the current radiation dose information of the reactor pool through the radiation dose monitor of the wiping robot when the scraping operation and the wiping operation of the reactor pool are completed; A radiation level determination module, used for obtaining the radiation level of each area of ​​the reactor pool according to the radiation dose information; The second motion module is used to control the movement of the wiping robot according to the secondary wiping area to perform the wiping operation when it is determined that there is a secondary wiping area, and the secondary wiping area includes an area where the radiation level is greater than or equal to a set radiation threshold.

10. 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 8 is implemented.

11. 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 8.

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