Nuclear power wiping robot control method and device and electronic equipment

Abstract

The application is suitable for the technical field of robot control, and provides a nuclear power wiping robot control method and device and electronic equipment, which comprises the following steps: controlling a nuclear power wiping robot to move in a reactor pool to perform water scraping work and wiping work; obtaining current radiation dose information of the reactor pool by a radiation dose monitor of the wiping robot when the water scraping work and the wiping work of the reactor pool are completed; obtaining radiation levels of each region of the reactor pool according to the radiation dose information; and controlling the wiping robot to move according to a secondary wiping region to perform the wiping work when it is determined that the secondary wiping region exists, wherein the secondary wiping region comprises a region with a radiation level greater than or equal to a set radiation threshold. The application can improve the wiping effect of the reactor pool.

Description

Technical Field

[0001] This application belongs to the field of robot control technology, and in particular relates to control methods, devices and electronic equipment for nuclear power plant cleaning robots. Background Technology

[0002] During operation, a large amount of cooling water flows through the reactor pool to maintain the reactor's normal temperature. However, during this cooling water circulation, nuclear waste typically accumulates at the bottom of the reactor pool. To ensure a clean internal environment for the reactor pool, it is usually necessary to clean the pool during shutdown and wipe away any residual water at the bottom to prevent potentially radioactive water from corroding reactor equipment and causing contamination.

[0003] Currently, to improve the safety of wiping residual water in reactor pools, wiping robots can be used instead of manual labor to wipe the reactor pools. However, most of the current wiping robots are civilian robots. After wiping the reactor pools, they cannot determine whether the radiation level of the reactor pools meets safety requirements, which has certain limitations and makes it difficult to meet the wiping requirements of reactor pools. Summary of the Invention

[0004] This application provides a nuclear power plant cleaning robot control method, device, and electronic equipment, which can improve the cleaning effect of the reactor pool.

[0005] In a first aspect, embodiments of this application provide a nuclear power plant wiping robot control method, including:

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

[0007] 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 monitoring instrument of the nuclear power wiping robot;

[0008] The radiation levels of each region of the reactor pool are obtained based on the radiation dose information.

[0009] If a secondary wiping area is determined to exist, the nuclear power plant wiping robot is controlled to move according to the secondary wiping area to perform the wiping operation. The secondary wiping area includes the area where the radiation level is greater than or equal to a set radiation threshold.

[0010] Secondly, embodiments of this application provide a nuclear power plant wiping robot control device, comprising:

[0011] The first motion module is used to control the movement of the nuclear power plant wiping robot within the reactor pool to perform scraping and wiping operations.

[0012] The detection module is used to obtain the current radiation dose information of the reactor pool through the radiation dose monitor of the wiping robot after the scraping and wiping operations of the reactor pool are completed.

[0013] A radiation level determination module is used to obtain the radiation level of each area of ​​the reactor pool based on the radiation dose information.

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

[0015] Thirdly, embodiments of this application provide an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the nuclear power plant wiping robot control method described in the first aspect.

[0016] Fourthly, embodiments of this application provide a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the nuclear power plant wiping robot control method described in the first aspect.

[0017] Fifthly, embodiments of this application provide a computer program product that, when run on an electronic device, causes the electronic device to execute the nuclear power plant wiping robot control method described in the first aspect.

[0018] The beneficial effects of the embodiments of this application compared with the prior art are:

[0019] In this embodiment, a nuclear power plant cleaning robot is first controlled to move within the reactor pool to perform scraping and wiping operations. After completing these operations, a radiation dose monitor integrated on the robot acquires the current radiation dose information. Since the radiation dose information determines the radiation levels in various areas of the reactor pool, it can effectively identify areas with radiation levels greater than or equal to a set radiation threshold, i.e., determine if secondary wiping areas exist. If secondary wiping areas are identified, the robot's movement is controlled accordingly, allowing it to continue wiping areas where radiation levels do not meet safety requirements. This ensures the reactor pool's radiation level meets safety standards and effectively guarantees its cleaning performance. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below.

[0021] Figure 1 This is a flowchart illustrating a nuclear power plant wiping robot control method according to an embodiment of this application;

[0022] Figure 2 This is a flowchart illustrating another nuclear power plant wiping robot control method provided in an embodiment of this application;

[0023] Figure 3 This is a schematic diagram of the nuclear power plant wiping robot control device provided in the embodiments of this application;

[0024] Figure 4 This is a schematic diagram of the structure of the electronic device provided in the embodiments of this application. Detailed Implementation

[0025] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of this application. However, those skilled in the art will understand that this application may also be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods have been omitted so as not to obscure the description of this application with unnecessary detail.

[0026] It should be understood that, when used in this application specification and the appended claims, the term "comprising" indicates the presence of the described features, integrals, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or a collection thereof.

[0027] It should also be understood that the term “and / or” as used in this application specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0028] Furthermore, in the description of this application and the appended claims, the terms "first," "second," "third," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0029] References to "one embodiment" or "some embodiments" in this specification mean that one or more embodiments of this application include a specific feature, structure, or characteristic described in connection with that embodiment. Therefore, the phrases "in one embodiment," "in some embodiments," "in other embodiments," "in still other embodiments," etc., appearing in different parts of this specification do not necessarily refer to the same embodiment, but rather mean "one or more, but not all, embodiments," unless otherwise specifically emphasized.

[0030] Example 1:

[0031] Figure 1 A flowchart illustrating a nuclear power plant wiping robot control method according to an embodiment of this application is shown below, and is described in detail below:

[0032] S101. Control the nuclear power plant wiping robot to move within the reactor pool to perform water scraping and wiping operations.

[0033] Water removal operation refers to the process by which residual water in the reactor pool is extracted using equipment with strong adsorption capabilities, such as vacuum motors, during the movement of nuclear power plant cleaning robots.

[0034] Wiping operations refer to the process by which a nuclear power plant wiping robot wipes away residual water in the reactor pool using wiping devices such as wiping cloths or rags during its movement, in order to achieve a cleaning and drying effect.

[0035] It should be understood that when controlling the nuclear power plant cleaning robot to move within the reactor pool for water scraping operations, it can first be controlled to traverse the reactor pool once according to a set path (i.e., control the nuclear power plant cleaning robot to move around the reactor pool once according to the set path, so that the nuclear power plant cleaning robot passes through the corresponding area within the reactor pool) to complete the water scraping operation, and then control the robot to traverse in reverse according to the set path to complete the wiping operation; or, it can be controlled to traverse the reactor pool once according to the set path, and perform water scraping and wiping operations simultaneously during the traversal. The specific settings can be configured according to actual needs.

[0036] Optionally, when controlling the nuclear power plant cleaning robot to move within the reactor pool, the robot can be controlled to move at a preset speed (e.g., 0.3 meters per second). This preset speed can be determined based on the liquid residue status within the reactor pool, or it can be set or input by the user; no specific restrictions are imposed here.

[0037] S102. After completing the above-mentioned water scraping and wiping operations of the reactor pool, the current radiation dose information of the reactor pool is obtained through the radiation dose monitoring instrument of the nuclear power wiping robot.

[0038] The aforementioned radiation dose monitoring instruments include, but are not limited to, gamma dose detectors (also known as gamma ray dose monitors), X-ray dose monitors, or personal dosimeters, which are dose monitors capable of detecting radiation dose information such as radiation level or radiation intensity.

[0039] It should be understood that the completion of the scraping and wiping operations by the nuclear power plant wiping robot can be determined based on its movement trajectory or other motion information. For example, assuming the nuclear power plant wiping robot needs to be controlled to move one revolution along a preset path to complete the scraping and wiping operations, the completion of these operations can be determined by the degree of overlap between the robot's actual movement trajectory and the preset path.

[0040] Optionally, since the detection range 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 mounted on the nuclear power plant wiping robot, and the movement of the nuclear power plant wiping robot can be controlled according to the detection path to obtain more accurate radiation dose information.

[0041] In this embodiment of the application, a radiation dose monitor is installed on the nuclear power plant wiping robot. After completing the scraping and wiping operations of the reactor pool, the radiation dose monitor will obtain the current radiation dose information of the reactor pool to determine whether the current radiation level of the reactor pool is within the safe range.

[0042] S103. Obtain the radiation levels of each area of ​​the reactor pool based on the radiation dose information mentioned above.

[0043] It should be understood that when obtaining the radiation levels of various regions in the reactor pool, the size of a region can be determined based on the size of the reactor pool or user settings, and no specific restrictions are imposed here.

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

[0045] In this embodiment of the 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 determine whether the radiation level of each area exceeds the preset safety range, which is beneficial to ensuring the wiping effect and safety of the reactor pool.

[0046] S104. If a secondary wiping area is determined to exist, the nuclear power plant wiping robot is controlled to move according to the secondary wiping area in order to perform the wiping operation. The secondary wiping area includes the 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 based on the reactor's historical operating experience and feedback through deep learning models such as large models, intelligent algorithms, or other means, or it can be set or input by the user; no specific restrictions are imposed here.

[0048] To control the radiation level in the reactor pool and keep it within a safe range, areas within the reactor pool with radiation levels greater than or equal to a set radiation threshold (e.g., 0.1 μSv / h) are designated as secondary wiping areas. After identifying all secondary wiping areas in the reactor pool, the nuclear power plant wiping robot is controlled to wipe these areas, reducing their radiation levels to meet safety requirements.

[0049] In this embodiment, the nuclear power plant cleaning robot is first controlled to move within the reactor pool to perform scraping and wiping operations. After completing the scraping and wiping operations, a radiation dose monitor integrated on the cleaning robot acquires the current radiation dose information of the reactor pool. Since this radiation dose information reflects the radiation levels of various areas within the reactor pool, it can effectively determine whether there are areas within the reactor pool with radiation levels greater than or equal to a set radiation threshold, i.e., whether there are areas requiring secondary wiping. Furthermore, if secondary wiping areas are determined based on the radiation dose information, the cleaning robot's movement is controlled accordingly, allowing it to continue wiping areas where radiation levels do not meet safety requirements. This ensures that the radiation level of the reactor pool meets safety requirements and effectively guarantees the cleaning effect of the reactor pool.

[0050] In some embodiments, step S101 includes:

[0051] The global movement path is determined based on the environmental map of the reactor pool, which is used to indicate obstacles present in the reactor pool.

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

[0053] Optionally, the aforementioned environmental map may be established based on images collected in the reactor pool by the camera equipment of the nuclear power plant cleaning robot or other means, or it may be established based on point cloud data collected by the lidar in the nuclear power plant cleaning robot, or it may be established based on the design drawings and layout information of the reactor pool, etc. The embodiments of this application do not impose specific limitations on this.

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

[0055] Since nuclear power equipment such as reactor pressure vessels are usually present in the reactor pool, in order to ensure the safety of nuclear power equipment, it is necessary to control the movement of the nuclear power cleaning robot in the reactor pool. The movement path of the nuclear power cleaning robot can be planned according to the environmental map of the reactor pool to obtain the global movement path, and the nuclear power cleaning robot can be controlled to move according to the global movement path to avoid collisions with nuclear power equipment when the nuclear power cleaning robot moves randomly.

[0056] To ensure the operational efficiency of the nuclear power plant wiping robot, it can be controlled to move at a preset speed (e.g., 0.5 meters per second) according to the global motion path. Since the distance traveled by the nuclear power plant wiping robot according to the global motion path is controllable, the time required for the nuclear power plant wiping robot to complete the water scraping and wiping operations can be controlled through the above processing, thereby effectively controlling the operational efficiency of the nuclear power plant wiping robot.

[0057] It should be understood that when controlling the nuclear power plant cleaning robot to move within the reactor pool to perform both scraping and wiping operations, the robot's movement speed during the scraping operation and wiping operation can be different. That is, different scraping and wiping movement speeds can be set, and the robot's movement can be controlled based on the global movement path and scraping speed to perform the scraping operation; the robot's movement can also be controlled based on the global movement path and wiping speed to perform the wiping operation.

[0058] It should be understood that the preset motion speed can be determined by deep learning models such as large models, intelligent algorithms or other methods, or it can be set or input by the user, and no specific restrictions are made here.

[0059] As an example, the speed of the wiping motion can be determined based on the liquid residue status in the reactor pool; the wiping motion speed can be determined based on initial radiation dose information, which reflects the radiation levels in various areas of the reactor pool after the wiping operation is completed.

[0060] In this embodiment, a global motion path is determined based on an environmental map that reflects obstacles within the reactor pool. The nuclear power plant cleaning robot is then controlled to move according to this global motion path and a preset motion speed. This avoids collisions with obstacles such as nuclear power equipment during the robot's movement, ensuring the robot's normal operation while effectively protecting nuclear power safety.

[0061] In some embodiments, prior to step S101 described above, the method further includes:

[0062] The laser radar of the nuclear power plant cleaning robot acquires point cloud data of the reactor pool and builds an environmental map of the reactor pool based on the point cloud data. The environmental map is used to indicate obstacles in the reactor pool.

[0063] Correspondingly, the aforementioned control of the nuclear power plant wiping robot's movement within the reactor pool includes:

[0064] The nuclear power plant cleaning robot is controlled to move within the reactor pool based on the aforementioned environmental map.

[0065] It should be understood that the lidar in the nuclear power plant cleaning robot can be a single-line lidar or a multi-line lidar.

[0066] Because lidar is unaffected by factors such as light, it can acquire accurate point cloud data in various environments and cover the reactor pool in a short time, exhibiting high data acquisition efficiency. Therefore, in this embodiment, point cloud data of the reactor pool is acquired by lidar mounted on the nuclear power plant cleaning robot, and an environmental map of the reactor pool is built based on this point cloud data. This allows for the efficient acquisition of a highly accurate environmental map. Furthermore, by controlling the nuclear power plant cleaning robot to move within the reactor pool based on this highly accurate environmental map, it is possible to better avoid obstacles in the reactor pool, prevent collisions with nuclear power equipment during the robot's movement, improve the motion control effect of the nuclear power plant cleaning robot, and effectively ensure the safety of nuclear power equipment within the reactor pool.

[0067] In some embodiments, the nuclear power plant cleaning robot includes at least two drive wheels on different sides, and the aforementioned control of the nuclear power plant cleaning robot's movement based on the aforementioned global motion path and the aforementioned preset motion speed of the nuclear power plant cleaning robot includes:

[0068] Based on the global motion path described above, it is determined that the nuclear power plant wiping robot needs to perform an arc motion at the next moment. The target drive speed corresponding to each of the aforementioned drive wheels is then determined. The target drive speed is determined based on the arc motion and the preset motion speed, and is used to reflect the speed that the drive motor corresponding to the drive wheel should reach when the nuclear power plant wiping robot performs the arc motion at the preset motion speed.

[0069] The rotation of the drive motor is controlled according to the target drive speed.

[0070] It should be understood that the motion of the nuclear power plant cleaning robot can include linear motion and circular motion, where circular motion refers to the nuclear power plant cleaning robot moving along an arc.

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

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

[0073] Because controlling the nuclear power plant cleaning robot to perform circular motion requires constantly changing its direction, the robot needs to overcome the inertial force generated by the change in direction. Furthermore, sufficient centripetal force is needed to maintain the robot's trajectory on the arc. This additional energy consumption affects the robot's speed. Therefore, to ensure the robot's operational efficiency, if it is determined that the robot will perform circular motion in the next moment, the required speed of the drive motors corresponding to each drive wheel can be calculated based on the required circular motion. This yields the target drive speed for each drive wheel, which is then used to control the rotation of the corresponding drive motor, thereby controlling the speed of each drive wheel.

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

[0075] Optionally, when determining the target drive speed based on the circular motion and the preset motion speed, the radius or arc corresponding to the circular motion can be determined first. Then, based on the radius or arc and the kinematic model of the robot, the speed that each drive wheel of the nuclear power plant wiping robot should reach (let's call it the expected drive wheel speed) can be determined. Furthermore, for each drive wheel, the drive motor speed required to make the drive wheel reach its expected drive wheel speed is calculated based on the expected drive wheel speed, thus obtaining the target drive speed.

[0076] It should be understood that, since the nuclear power plant cleaning robot includes at least two drive wheels on different sides, its movement speed is a composite of the speeds of each drive wheel. Therefore, the kinematic model of the nuclear power plant cleaning robot can indicate the relationship between the robot's movement speed and the rotational speeds of its individual drive wheels. This allows for precise calculation of the required rotational speeds of each drive wheel when controlling the robot to move in a straight line or circular motion, based on the kinematic model and the preset speed. It should also be understood that the kinematic model of the nuclear power plant cleaning robot can be constructed based on its structural composition and the load-bearing capacity of its various regions.

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

[0078] In some embodiments, controlling the movement of the nuclear power plant cleaning robot based on the global motion path and the preset motion speed of the nuclear power plant cleaning robot includes:

[0079] When the aforementioned nuclear power plant cleaning robot is in motion, it detects whether there are any obstacles within a preset distance in the direction of the robot's movement.

[0080] If an obstacle is detected within a preset distance in the direction of movement, the obstacle avoidance local path and obstacle avoidance speed are determined based on the dynamic window algorithm and the obstacle information.

[0081] The nuclear power plant cleaning robot is controlled to perform obstacle avoidance movements based on the aforementioned obstacle avoidance local path and obstacle avoidance movement speed.

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

[0083] The Dynamic Window Approach (DWA) described above is an algorithm for path planning and obstacle avoidance. By considering the robot's speed and acceleration limitations, as well as obstacles in the environment, the DWA calculates a dynamic window within which all possible movements are evaluated to find the optimal path.

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

[0085] It should be understood that the aforementioned 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 it can be set or input by the user, and no specific restrictions are imposed here.

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

[0087] Optionally, the presence of obstacles within a preset distance in the direction of movement of the nuclear power plant cleaning robot can be detected by a ranging sensor (such as an ultrasonic ranging sensor or an infrared sensor). Alternatively, the presence of obstacles within a preset distance in the direction of movement of the nuclear power plant cleaning robot can be detected by the ranging sensor in the nuclear power plant cleaning robot and images collected by camera equipment.

[0088] In some embodiments, considering that new obstacles may appear within the reactor pool, if no detected obstacle is present in the current environmental map, the environmental map can be updated based on the information of the detected obstacle to ensure the accuracy of the environmental map.

[0089] To reduce vibration and instability during obstacle avoidance by the nuclear power plant cleaning robot, when an obstacle is detected within a preset distance in the robot's direction of movement, a dynamic window algorithm and obstacle information can be used to determine the optimal path and obstacle avoidance speed for the robot. This optimal path serves as the local obstacle avoidance path for the robot, and the robot is controlled to perform obstacle avoidance movements based on this local path and speed to ensure that it can safely and efficiently avoid the obstacle.

[0090] After the obstacle avoidance maneuver is completed, i.e., after the nuclear power plant cleaning robot reaches the endpoint of the local obstacle avoidance path, its movement can be controlled based on the robot's real-time position information (usually the endpoint of the local obstacle avoidance path) and the global motion path. This allows the robot to return to the trajectory corresponding to the global motion path and continue moving according to that path. Specifically, after the obstacle avoidance maneuver is completed, the robot's movement is controlled according to a preset speed.

[0091] Optionally, after the obstacle avoidance maneuver is completed, the global motion path can be updated based on the actual motion trajectory of the nuclear power plant cleaning robot during obstacle avoidance.

[0092] In this embodiment, when an obstacle exists within a preset distance in the direction of movement of the nuclear power plant cleaning robot, a local obstacle avoidance path and obstacle avoidance speed are determined by a dynamic window algorithm and the obstacle information of the obstacle. Since the dynamic window algorithm can fully consider the physical limitations and environmental conditions of the nuclear power plant cleaning robot when planning the path, it generates the most suitable local obstacle avoidance path and relatively smooth obstacle avoidance speed for the nuclear power plant cleaning robot. Therefore, controlling the nuclear power plant cleaning robot to perform obstacle avoidance movement according to the local obstacle avoidance path and obstacle avoidance speed can better ensure the movement stability and controllability of the nuclear power plant cleaning robot during obstacle avoidance, which is conducive to improving the control effect of the nuclear power plant cleaning robot.

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

[0094] When the nuclear power plant wiping robot is in the water-scraping operation state, or when there is a deviation between the actual position information and the expected position information of the nuclear power plant wiping robot, the actual driving speed of the drive motor of the nuclear power plant wiping robot is obtained, and the expected position information is determined based on the global motion path and the preset motion speed.

[0095] The drive motor is controlled based on the first deviation between the actual drive speed and the expected drive speed, wherein the expected drive speed is determined based on the preset motion speed.

[0096] The aforementioned expected location information is determined based on the aforementioned global motion path and the aforementioned preset motion speed, and is used to indicate the expected location that the nuclear power plant wiping robot is expected to reach at the current moment.

[0097] Because the nuclear power plant cleaning robot needs to absorb residual water in the reactor pool during the water absorption phase, the load on the robot usually increases continuously during this phase. This can significantly affect the rotational speed of the robot's drive motor, thus impacting its movement speed. Therefore, when the robot is in the water-scraping operation mode, i.e., during the water-scraping process, the actual drive speed of the robot's drive motor can be obtained. Then, based on the first deviation between the actual drive speed and the expected drive speed, the drive motor can be controlled to reduce and eliminate this first deviation, making the actual drive speed of the drive motor approach the expected drive speed. In other words, the actual movement speed of the nuclear power plant cleaning robot approaches the preset movement speed, effectively ensuring the water-scraping efficiency of the robot.

[0098] Optionally, when obtaining the actual drive speed of the drive motor while the nuclear power plant wiping robot is in the water-scraping operation state, the actual drive speed can be obtained according to a set first sampling frequency. This 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 it can be set or input by the user, and can be set according to actual needs.

[0099] Alternatively, to reduce the control complexity of the nuclear power plant cleaning robot, its actual position information can be obtained. If there is a deviation between the actual position information and the expected position information, it indicates that the actual movement speed of the nuclear power plant cleaning robot deviates from the expected movement speed, causing its actual position information to be inconsistent with the expected position information. At this time, the actual drive speed corresponding to the drive motor of the nuclear power plant cleaning robot is obtained, and the drive motor is controlled according to the first deviation between the actual drive speed and the expected drive speed, so that the actual movement speed of the nuclear power plant cleaning robot approaches the preset movement speed, thereby ensuring the working efficiency of the nuclear power plant cleaning robot.

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

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

[0102] In some embodiments, the drive motor can be controlled based on the first deviation if the first deviation between the actual drive speed and the expected drive speed is equal to a first deviation threshold (e.g., 10 revolutions per second).

[0103] Optionally, when controlling the drive motor according to the first deviation, the drive motor may be subject to feedforward control and / or feedback control based on the first deviation.

[0104] Among them, the aforementioned feedforward control is an open-loop control method that compensates for disturbances (such as load changes). The aforementioned feedback control is a closed-loop control method that measures the motor's output signal (such as speed or position), compares it with the desired signal to generate an error signal, and then adjusts the input control signal (such as voltage or current) according to the error signal to control the motor's actual output signal to match the desired signal.

[0105] In this embodiment, considering that the complex environment of the reactor pool usually affects the operation of the motor in the nuclear power plant cleaning robot, and that the load of the nuclear power plant cleaning robot during the wiping operation usually changes continuously, which will continuously have a significant impact on the rotational speed of the target motor of the nuclear power plant cleaning robot, when the nuclear power plant cleaning robot is performing the wiping operation or the actual position information does not match the expected position information, the actual driving speed corresponding to the drive motor of the nuclear power plant cleaning robot is obtained, and the drive motor is controlled according to the first deviation between it 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, so that the actual movement speed of the nuclear power plant cleaning robot approaches the preset movement speed, effectively ensuring the working efficiency of the nuclear power plant cleaning robot.

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

[0107] When the nuclear power plant wiping robot is in the wiping operation state, the actual rotation speed of the cloth feeding motor and the actual rotation speed of the cloth taking-up motor are obtained. The cloth feeding motor is the motor corresponding to the cloth feeding roller of the nuclear power plant wiping robot, and the cloth taking-up motor is the motor corresponding to the cloth taking-up roller of the nuclear power plant wiping robot.

[0108] The feeding motor or the take-up motor is controlled based on the second deviation between the actual feeding speed and the actual take-up speed.

[0109] It should be understood that the nuclear power plant wiping robot is equipped with a cloth-laying roller and a cloth-retrieving roller. During the wiping operation, the cloth-laying roller is used to release and spread the clean wiping cloth for wiping, while the cloth-retrieving roller is used to retrieve the dirty wiping cloth after wiping. The coordinated work of cloth-laying and cloth-retrieving enables the nuclear power plant wiping robot to maintain stable and reliable cleaning capabilities.

[0110] Nuclear power plant wiping robots typically use a cloth-laying motor to drive a cloth-laying roller to rotate, and a cloth-retrieving motor to drive a cloth-retrieving roller to rotate. The cloth-laying motor and the cloth-retrieving motor usually have the same expected speed, which allows the nuclear power plant wiping robot to release and retrieve the cloth simultaneously during the wiping operation. This enables continuous and uniform wiping of the reactor pool, ensuring the wiping effect.

[0111] Optionally, when obtaining the actual fabric feeding speed of the fabric feeding motor and the actual fabric taking speed of the fabric taking motor, the actual fabric feeding speed and the actual fabric taking speed can be obtained by a sensory method such as an encoder or Hall sensor, or by a sensorless method such as an observer, frequency conversion method and sensorless magnetic field orientation control, or by a combination of sensory and sensorless methods. The specific settings can be configured according to actual needs.

[0112] Because the complex environment of the reactor pool often affects the operation of the motors in the nuclear power plant wiping robot, the speeds of the cloth-laying motor and the synchronous motor may become asynchronous, affecting the wiping effect. Therefore, in this embodiment, when the nuclear power plant wiping robot is in the wiping operation state, that is, when the nuclear power plant wiping robot is performing the wiping operation, the actual cloth-laying speed corresponding to the cloth-laying motor and the actual cloth-retrieving speed corresponding to the cloth-retrieving motor can be obtained, so as to analyze the speed synchronization between the cloth-laying motor and the cloth-retrieving motor based on the actual cloth-laying speed and the actual cloth-retrieving speed.

[0113] It should be understood that during the wiping operation of the nuclear power plant wiping robot, the actual rotation speed of the cloth being laid out and the actual rotation speed of the cloth being retrieved can be obtained by random sampling, or by a fixed sampling frequency.

[0114] For example, during the wiping operation of a nuclear power plant cleaning robot, the actual rotation speeds of the fabric placement and retraction are obtained at a set target sampling frequency. This target sampling frequency can be calculated based on deep learning models such as large-scale models or other intelligent algorithms according to the influence of the reactor pool environment on the fabric placement and retraction motors, or it can be set or input by the user, and can be set according to actual needs.

[0115] To reduce control complexity, the take-up motor can be controlled based on the second deviation between the actual speed of the fabric feeding and the actual speed of the fabric take-up. In this case, the actual speed of the fabric feeding motor is taken as the desired speed of the take-up motor. The take-up motor is controlled based on the second deviation between the actual speed of the take-up motor and the actual speed of the fabric feeding motor (i.e., the desired speed). This ensures that the speed of the take-up motor can follow the speed of the fabric feeding 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 controlling the feeding motor or the take-up motor based on the second deviation between the actual feeding speed and the actual take-up speed, feedback control or feedforward control can be performed on the feeding motor or the take-up motor.

[0117] In some embodiments, if the second deviation between the actual fabric feeding speed and the actual fabric take-up speed is equal to a second deviation threshold (e.g., 2 revolutions per second), the fabric feeding motor or the fabric take-up motor can be controlled according to the second deviation.

[0118] In this embodiment, the cloth-laying motor or cloth-retrieving motor is controlled based on a second deviation between the actual cloth-laying speed and the actual cloth-retrieving speed. This reduces the deviation between the speeds of the cloth-laying and cloth-retrieving motors, enabling the nuclear power plant wiping robot to lay and retrieve the cloth at a consistent speed during wiping operations. Specifically, this allows the nuclear power plant wiping robot to use a clean cloth to wipe the reactor pool, and the dirty cloth to be retrieved synchronously after wiping. This effectively ensures the wiping effect of the reactor pool and avoids situations where cloth accumulation affects the operation of the nuclear power plant wiping robot or even causes it to stop working, thus improving the wiping efficiency of the nuclear power plant wiping robot.

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

[0120] Upon completion of the aforementioned wiping operation, the steps described above are executed: obtaining the current radiation dose information of the reactor pool through the radiation dose monitoring instrument of the aforementioned nuclear power wiping robot, and controlling the movement of the aforementioned nuclear power wiping robot according to the aforementioned secondary wiping area, until it is determined that there is no aforementioned secondary wiping area 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 nuclear power plant wiping robot is controlled to move according to the secondary wiping area. After completing the wiping operation of the secondary wiping area, the radiation dose monitoring instrument of the nuclear power plant wiping robot will obtain the current radiation dose information of the reactor pool again.

[0122] If the latest radiation dose information determines that there is a secondary wiping area, the nuclear power plant wiping robot needs to be controlled again to perform wiping operations on the newly determined secondary wiping area.

[0123] If the latest radiation dose information determines that there are no areas with radiation levels greater than or equal to the radiation threshold, i.e., no areas need to be wiped twice, then there is no need to control the nuclear power plant wiping robot to perform the wiping operation again.

[0124] In some embodiments, if the total radiation level of the reactor pool is determined to be less than or equal to the overall radiation threshold (e.g., 2 μSv / h) based on the latest radiation dose information after at least N wiping operations have been completed, there is no need to control the nuclear power plant wiping robot to move again, i.e., there is no need to perform wiping operations again.

[0125] By repeating the above steps, the radiation level in each area of ​​the reactor pool is controlled to be lower than the standard radiation level, thereby ensuring that the radiation level of the reactor pool meets safety requirements and effectively guaranteeing the cleanliness of the reactor pool.

[0126] It should be understood that the sequence number of each step in the above embodiments does not imply 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 this application.

[0127] Example 2:

[0128] Corresponding to the nuclear power plant wiping robot control method described in the above embodiments, Figure 3 A structural block diagram of the nuclear power plant wiping robot control device provided in the embodiments of this application is shown. For ease of explanation, only the parts related to the embodiments of this 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. Among them,

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

[0131] The detection module 32 is used to obtain the current radiation dose information of the reactor pool through the radiation dose monitor of the wiping robot after the above-mentioned water scraping operation and wiping operation of the reactor pool are completed.

[0132] The radiation level determination module 33 is used to obtain the radiation level of each area of ​​the reactor pool based on the radiation dose information mentioned above.

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

[0134] In this embodiment, the nuclear power plant cleaning robot is first controlled to move within the reactor pool to perform scraping and wiping operations. After completing the scraping and wiping operations, a radiation dose monitor integrated on the cleaning robot acquires the current radiation dose information of the reactor pool. Since this radiation dose information reflects the radiation levels of various areas within the reactor pool, it can effectively determine whether there are areas within the reactor pool with radiation levels greater than or equal to a set radiation threshold, i.e., whether there are areas requiring secondary wiping. Furthermore, if secondary wiping areas are determined based on the radiation dose information, the cleaning robot's movement is controlled accordingly, allowing it to continue wiping areas where radiation levels do not meet safety requirements. This ensures that the radiation level of the reactor pool meets safety requirements and effectively guarantees 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 based on the environmental map of the reactor pool, which is used to indicate the obstacles present in the reactor pool.

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

[0138] In some embodiments, the nuclear power plant wiping robot described above includes at least two drive wheels on different sides, and the first motion module 31 further includes:

[0139] The target drive speed determination unit is used to determine the target drive speed corresponding to each of the drive wheels when the nuclear power plant wiping robot needs to perform an arc motion at the next moment based on the global motion path. The target drive speed is determined based on the arc motion and the preset motion speed, and is used to reflect the speed that the drive motor corresponding to the drive wheel of the nuclear power plant wiping robot should reach when the nuclear power plant wiping robot performs the arc motion at the preset motion speed.

[0140] The drive unit is used to control the rotation of the corresponding drive motor according to the target drive speed.

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

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

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

[0144] The obstacle avoidance motion unit is used to control the nuclear power plant wiping robot to perform obstacle avoidance motion based on the aforementioned obstacle avoidance local path and obstacle avoidance motion speed.

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

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

[0147] The drive speed acquisition module is used to acquire the actual drive speed of the drive motor of the nuclear power plant wiping robot when the nuclear power plant wiping robot is in the water-wiping operation state, or when there is a deviation between the actual position information and the expected position information of the nuclear power plant wiping robot. The expected position information is determined based on the global motion path and the preset motion speed.

[0148] The drive compensation control module is used to control the drive motor according to the 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 plant wiping robot control device further includes:

[0150] The wiping speed acquisition module is used to acquire the actual cloth-laying speed corresponding to the cloth-laying motor and the actual cloth-retrieving speed corresponding to the cloth-retrieving motor when the nuclear power wiping robot is in the wiping operation state. The cloth-laying motor is the motor corresponding to the cloth-laying roller of the nuclear power wiping robot, and the cloth-retrieving motor is the motor corresponding to the cloth-retrieving roller of the nuclear power wiping robot.

[0151] The wiping compensation control module is used to control the feeding motor or the taking-up motor based on the second deviation between the actual feeding speed and the actual taking-up speed.

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

[0153] The map building module is used to acquire point cloud data of the reactor pool using the lidar of the nuclear power plant cleaning robot, and to build an environmental map of the reactor pool based on the point cloud data. The environmental map is used to indicate obstacles present in the reactor pool.

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

[0155] The nuclear power plant cleaning robot is controlled to move within the reactor pool based on the aforementioned environmental map.

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

[0157] The cyclic wiping module is used to, after completing the above-mentioned wiping operation, 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, until it is determined that there is no secondary wiping area based on the latest radiation dose information.

[0158] 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 this application. For details on their specific functions and technical effects, please refer to the method embodiments section, and they will not be repeated here.

[0159] Example 3:

[0160] Figure 4 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Figure 4 As shown, the electronic device 4 of this embodiment includes: at least one processor 40 ( Figure 4 The diagram shows only one processor, a memory 41, and a computer program 42 stored in the memory 41 and executable on the at least one processor 40, which, when executing the computer program 42, performs the steps in any of the above method embodiments.

[0161] The electronic device 4 can be a desktop computer, laptop, handheld computer, cloud server, or other computing device. This electronic device may include, but is not limited to, a processor 40 and a memory 41. Those skilled in the art will understand that... Figure 4 This is merely an example of electronic device 4 and does not constitute a limitation on electronic device 4. It may include more or fewer components than shown, or combine certain components, or different components. For example, it may also include input / output devices, network access devices, etc.

[0162] The processor 40 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.

[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 be an external storage device of the electronic device 4, such as a plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, etc., equipped on the electronic device 4. Furthermore, the memory 41 may include both internal and external storage units of the electronic device 4. The memory 41 is used to store the operating system, applications, bootloader, data, and other programs, such as the program code of the computer program. The memory 41 can also be used to temporarily store data that has been output or will be output.

[0164] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is merely an example. In practical applications, the above functions can be assigned to 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 embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit. Furthermore, the specific names of the functional units and modules are only for easy differentiation and are not intended to limit the scope of protection of this application. The specific working process of the units and modules in the above system can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0165] This 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 executes the computer program to implement the steps in any of the above method embodiments.

[0166] This application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, can implement the steps in the above-described method embodiments.

[0167] This application provides a computer program product that, when run on an electronic device, enables the electronic device to implement the steps described in the various method embodiments above.

[0168] If the integrated unit is implemented as 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, all or part of the processes in the above-described embodiments of this application can be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable medium can include at least: any entity or device capable of carrying computer program code to a photographic device / electronic device, a recording medium, a computer memory, a read-only memory (ROM), a random access memory (RAM), an electrical carrier signal, a telecommunication signal, and a software distribution medium. Examples include USB flash drives, hard disk drives, magnetic disks, or optical disks. In some jurisdictions, according to legislation and patent practice, computer-readable media cannot be electrical carrier signals or telecommunication signals.

[0169] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0170] Those skilled in the art will recognize that the units and algorithm steps of the various examples 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 implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0171] In the embodiments provided in this application, it should be understood that the disclosed apparatus / network devices and methods can be implemented in other ways. For example, the apparatus / network device embodiments described above are merely illustrative. For instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0172] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0173] The above-described embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. A control method for a nuclear power plant wiping robot, characterized in that, include: Control the nuclear power plant cleaning robot to move within the reactor pool to perform scraping and wiping operations; 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 monitoring instrument of the nuclear power wiping robot; The radiation levels of each region of the reactor pool are obtained based on the radiation dose information. If a secondary wiping area is determined to exist, the nuclear power plant wiping robot is controlled to move according to the secondary wiping area in order to perform the wiping operation. The secondary wiping area includes the area where the radiation level is greater than or equal to a set radiation threshold. Upon completion of the wiping operation, the following steps are executed: obtaining the current radiation dose information of the reactor pool through the radiation dose monitoring instrument of the nuclear power wiping robot and controlling the movement of the nuclear power wiping robot according to the secondary wiping area, until it is determined that there is no secondary wiping area based on the latest radiation dose information; The control of the nuclear power plant cleaning robot's movement within the reactor pool includes: The global movement path is determined based on the environmental map of the reactor pool, which is used to indicate obstacles present in the reactor pool; The movement of the nuclear power plant wiping robot is controlled according to the global motion path and the preset motion speed of the nuclear power plant wiping robot.

2. The nuclear power plant cleaning robot control method as described in claim 1, characterized in that, The nuclear power plant cleaning robot includes at least two drive wheels on different sides. Controlling the movement of the nuclear power plant cleaning robot according to the global motion path and the preset motion speed of the nuclear power plant cleaning robot includes: When it is determined that the nuclear power plant wiping robot needs to perform circular motion at the next moment based on the global motion path, the target driving speed corresponding to each driving wheel is determined. The target driving speed is determined based on 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 plant wiping robot performs the circular motion at the preset motion speed. The drive motor is controlled to rotate according to the target drive speed.

3. The nuclear power plant cleaning robot control method as described in claim 1, characterized in that, The step of controlling the movement of the nuclear power plant cleaning robot according to the global motion path and the preset motion speed of the nuclear power plant cleaning robot includes: When the nuclear power plant cleaning robot is in motion, detect whether there are obstacles within a preset distance in the direction of the nuclear power plant cleaning robot's movement; If an obstacle is detected within a preset distance in the direction of movement, the obstacle avoidance local path and obstacle avoidance speed are determined based on the dynamic window algorithm and the obstacle information of the obstacle. The nuclear power plant wiping robot is controlled to perform obstacle avoidance movement based on the local obstacle avoidance path and the obstacle avoidance movement speed. After the obstacle avoidance maneuver is completed, the nuclear power plant cleaning robot is controlled to move according to its real-time position information, global movement path, and preset movement speed.

4. The nuclear power plant cleaning robot control method as described in claim 1, characterized in that, After controlling the nuclear power plant cleaning robot to move within the reactor pool, the method further includes: When the nuclear power plant wiping robot is in the water-scraping operation state, or when there is a deviation between the actual position information and the expected position information of the nuclear power plant wiping robot, the actual driving speed corresponding to the drive motor of the nuclear power plant wiping robot is obtained, and the expected position information is determined according to the global motion path and the preset motion speed; The drive motor is controlled based on a first deviation between the actual drive speed and the expected drive speed, wherein the expected drive speed is determined based on the preset motion speed.

5. The nuclear power plant cleaning robot control method as described in claim 1, characterized in that, After controlling the nuclear power plant cleaning robot to move within the reactor pool, the method further includes: When the nuclear power plant wiping robot is in the wiping operation state, the actual rotation speed of the cloth feeding motor and the actual rotation speed of the cloth taking-up motor are obtained. The cloth feeding motor is the motor corresponding to the cloth feeding roller of the wiping robot, and the cloth taking-up motor is the motor corresponding to the cloth taking-up roller of the wiping robot. The feeding motor or the taking-up motor is controlled based on a second deviation between the actual feeding speed and the actual taking-up speed.

6. The nuclear power plant cleaning robot control method according to any one of claims 1 to 5, characterized in that, Prior to controlling the movement of the nuclear power plant wiping robot within the reactor pool, the method further includes: The nuclear power plant cleaning robot acquires point cloud data of the reactor pool using its lidar, and builds an environmental map of the reactor pool based on the point cloud data. The environmental map is used to indicate obstacles present in the reactor pool. Correspondingly, controlling the movement of the nuclear power plant wiping robot within the reactor pool includes: The nuclear power plant cleaning robot is controlled to move within the reactor pool based on the environmental map.

7. A control device for a nuclear power plant wiping robot, characterized in that, include: The first motion module is used to control the movement of the nuclear power plant wiping robot within the reactor pool to perform scraping and wiping operations. The detection module is used to obtain the current radiation dose information of the reactor pool through the radiation dose monitor of the wiping robot after the scraping and wiping operations of the reactor pool are completed. A radiation level determination module is used to obtain the radiation level of each area of ​​the reactor pool based on the radiation dose information. The second motion module is used to control the movement of the wiping robot according to the secondary wiping area when it is determined that there is a secondary wiping area, so as to perform the wiping operation. The secondary wiping area includes the area where the radiation level is greater than or equal to a set radiation threshold. The cyclic wiping module is used to, after completing the wiping operation, 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, until it is determined that there is no secondary wiping area based on the latest radiation dose information; The first motion module includes: A global motion path determination unit is used to determine a global motion path based on an environmental map of the reactor pool, wherein the environmental map is used to indicate obstacles present in the reactor pool. The first motion control unit is used to control the movement of the nuclear power plant wiping robot according to the global motion path and the preset motion speed of the nuclear power plant wiping robot.

8. 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, it implements the method as described in any one of claims 1 to 6.

9. A computer program product, characterized in that, When the computer program product is run on an electronic device, it causes the electronic device to perform the method as described in any one of claims 1 to 6.

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