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

Abstract

The invention is suitable for the technical field of robot control, and provides a motion control method and device for a nuclear power wiping robot and electronic equipment, and the method comprises the steps that the real-time rotating speed of a target motor is obtained, and the target motor comprises a motor corresponding to a driving wheel of the nuclear power wiping robot; a control mode matched with the current working stage of the nuclear power wiping robot is determined, and a target control mode is obtained; and based on the deviation between the real-time rotating speed and the expected rotating speed of the target motor, the target control mode is adopted to control the target motor. The precision of motion control of the nuclear power wiping robot can be improved.

Description

Technical Field

[0001] The present application belongs to the field of robot control technology, and in particular relates to a motion 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 at 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, a nuclear power wiping robot can be used to wipe the reactor pool, but it usually directly sets the speed of the motor of the driving wheel according to the set robot movement speed, and does not pay attention to whether the speed of the motor of the driving wheel reaches the expected speed during the operation of the nuclear power wiping robot. The motion control accuracy of the nuclear power wiping robot is limited. Summary of the invention

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

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

[0006] Acquire the real-time rotation speed of the target motor, wherein the target motor includes the motor corresponding to the driving wheel of the nuclear power wiping robot;

[0007] Determine a control mode that matches the current working stage of the nuclear power wiping robot to obtain a target control mode;

[0008] Based on the deviation between the real-time rotation speed of the target motor and the expected rotation speed, the target motor is controlled by adopting the target control method.

[0009] In a possible implementation manner of the first aspect, before acquiring the real-time rotation speed of the target motor, the method further includes:

[0010] The real-time rotation speed of the target motor is obtained at a first target sampling frequency, wherein the first target sampling frequency is determined according to the current working stage of the nuclear power wiping robot, and different working stages of the nuclear power wiping robot correspond to different sampling frequencies.

[0011] In a possible implementation of the first aspect, the working stages of the nuclear power wiping robot include a water absorption stage, a wiping stage, and a detection stage, and before acquiring the real-time rotation speed of the target motor at the first target sampling frequency, it also includes:

[0012] When the current working stage of the nuclear power wiping robot is the water absorption stage, the set first sampling frequency is determined as the first target sampling frequency;

[0013] When the current working stage of the nuclear power wiping robot is the wiping stage or the detection stage, the set second sampling frequency is determined as the first target sampling frequency, and the second sampling frequency is lower than the first sampling frequency.

[0014] In a possible implementation manner of the first aspect, before acquiring the real-time rotation speed of the target motor, the method further includes:

[0015] The real-time rotation speed of the target motor is obtained at a second target sampling frequency, and the second target sampling frequency is determined according to the current motion type of the nuclear power wiping robot, and different motion types correspond to different sampling frequencies.

[0016] In a possible implementation of the first aspect, determining a control mode that matches the current working phase of the nuclear power wiping robot to obtain a target control mode includes:

[0017] In the case where the current working stage of the nuclear power wiping robot is the water absorption stage, determining that the target control mode includes feedback control and feedforward control;

[0018] When the current working phase of the nuclear power wiping robot is the wiping phase or the detection phase, determining that the target control mode includes the feedback control.

[0019] In a possible implementation of the first aspect, controlling the target motor by using the target control method based on a deviation between the real-time rotation speed of the target motor and the expected rotation speed includes:

[0020] In the case where the target control mode includes the feedforward control and the feedback control, a feedforward control signal is determined according to the load change information of the nuclear power wiping robot;

[0021] Determining a feedback control signal according to a deviation between the real-time rotation speed of the target motor and the expected rotation speed;

[0022] The target motor is controlled according to the feedforward control signal and the feedback control signal.

[0023] In a possible implementation of the first aspect, determining a control mode that matches the current working phase of the nuclear power wiping robot to obtain a target control mode includes:

[0024] When the current working stage of the nuclear power wiping robot is the wiping stage or the detection stage, and the nuclear power wiping robot is in non-linear motion, determining that the target control mode includes feedforward control and feedback control.

[0025] In a second aspect, an embodiment of the present application provides a motion control device for a nuclear power wiping robot, comprising:

[0026] A rotation speed acquisition module, used to acquire the real-time rotation speed of a target motor, wherein the target motor includes a motor corresponding to a driving wheel of a nuclear power wiping robot;

[0027] A control mode determination module is used to determine a control mode that matches the current working stage of the nuclear power wiping robot and obtain a target control mode;

[0028] A control module is used to control the target motor by adopting the target control method based on the deviation between the real-time rotation speed of the target motor and the expected rotation speed.

[0029] 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 motion control method for the nuclear power wiping robot described in the first aspect when executing the computer program.

[0030] 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 motion control method of the nuclear power wiping robot described in the first aspect are implemented.

[0031] 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 motion control method of the nuclear power wiping robot described in the first aspect above.

[0032] Compared with the prior art, the embodiments of the present invention have the following beneficial effects:

[0033] In the embodiment of the present application, during the operation of the nuclear power wiping robot, the real-time rotation speed of the target motor is obtained, and at the same time, the matching control mode is determined according to the current working stage of the nuclear power wiping robot to obtain the target control mode. Since the target motor is the motor corresponding to the driving wheel of the nuclear power wiping robot, and the target control mode is a control mode that matches the current working stage of the nuclear power wiping robot, therefore, based on the deviation between the real-time rotation speed of the target motor and the expected rotation speed, the target motor is controlled by the target control mode, which can better achieve accurate control of the target motor, thereby improving the accuracy of the motion control of the nuclear power wiping robot, which is conducive to improving the working efficiency of the nuclear power wiping robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] 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.

[0035] Figure 1 It is a flow chart of a motion control method of a nuclear power wiping robot provided in one embodiment of the present application;

[0036] Figure 2 It is a structural schematic diagram of a motion control device of a nuclear power wiping robot provided in an embodiment of the present application;

[0037] Figure 3 It is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0038] 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.

[0039] 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.

[0040] 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.

[0041] 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.

[0042] 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.

[0043] Embodiment 1:

[0044] Figure 1 A schematic flow chart of a motion control method of a nuclear power wiping robot provided in an embodiment of the present application is shown, and is described in detail as follows:

[0045] S101, obtaining the real-time rotation speed of the target motor, where the target motor includes the motor corresponding to the driving wheel of the nuclear power cleaning robot.

[0046] It should be understood that when obtaining the real-time speed of the target motor, the real-time speed can be obtained through a sensory method such as an encoder or a Hall sensor, or through a sensorless method such as an observer, a frequency conversion method, and a sensorless magnetic field oriented control. The real-time speed can also be obtained by a combination of sensory and sensorless methods. The specific setting can be made according to actual needs.

[0047] It should be understood that when the nuclear power wiping robot includes multiple drive wheels, the real-time rotation speed of the motor corresponding to each drive wheel can be obtained respectively, that is, the real-time rotation speed of each target motor can be obtained respectively, and then each target motor can be controlled based on the motion control method provided in the embodiment of the present application.

[0048] S102, determining a control mode that matches the current working stage of the nuclear power wiping robot, and obtaining a target control mode.

[0049] It should be understood that when the nuclear power wiping robot performs wiping work in the reactor pool, the working stages include but are not limited to the mapping stage, water absorption stage, wiping stage, detection stage and the like.

[0050] Among them, the mapping stage refers to the stage in which the nuclear power wiping robot collects image data of various areas of the reactor pool through camera equipment during movement, so as to establish an environmental map of the reactor pool based on the collected image data.

[0051] The water absorption stage refers to the stage in which the nuclear power wiping robot extracts residual water from the bottom of the reactor pool through equipment with strong adsorption capacity such as vacuum motors during its movement.

[0052] The wiping stage refers to the stage in which the nuclear power wiping robot wipes the bottom of the reactor pool with a wiping cloth during movement.

[0053] The detection phase refers to the phase in which the radiation dose in various areas of the reactor pool is detected by radiation dose detectors such as gamma dose detectors during the movement of the nuclear power wiping robot.

[0054] It should be understood that the control methods of the motor include but are not limited to open-loop control, closed-loop control, feedforward control and feedback control. The target control method can be a single control method or a composite control method combining multiple control methods. For example, the target control method can include open-loop control, feedforward control and feedback control.

[0055] It should be understood that different control methods usually differ in one or more aspects such as response speed, control accuracy, implementation cost and implementation difficulty.

[0056] Since the nuclear power wiping robot has certain differences in its requirements for motion control response speed and control accuracy in different working stages, before controlling the target motor of the nuclear power wiping robot, the control method that matches the current working stage of the nuclear power wiping robot is first determined to obtain the target control method. The target control method is used to control the target motor, which can better meet the motion control requirements of the nuclear power wiping robot in different working stages, improve the control accuracy and work efficiency of the nuclear power wiping robot, and reduce the control cost and implementation difficulty of the nuclear power wiping robot, so as to achieve the best motion control effect in each working stage.

[0057] S103 , based on the deviation between the real-time rotation speed of the target motor and the expected rotation speed, control the target motor using the target control method.

[0058] It should be understood that the expected rotation speed of the target motor is usually determined according to the expected movement speed of the nuclear power wiping robot.

[0059] It should be understood that the purpose of controlling the target motor based on the deviation between the real-time rotation speed of the target motor and the expected rotation speed is to reduce and eliminate the deviation so that the rotation speed of the target motor approaches the expected rotation speed.

[0060] It should be understood that the specific control process of controlling the target motor using the target control method based on the deviation between the real-time rotation speed of the target motor and the expected rotation speed is determined according to the target control method used.

[0061] For example, assuming that the determined target control method is feedforward control, when implementing feedforward control of the target motor, the feedforward controller corresponding to the target motor can be obtained. The feedforward controller is used to predict the future operating state of the target motor based on the target motor model and current operating state information (including the deviation between the real-time speed and the expected speed and external disturbance information), thereby calculating the feedforward control signal according to the predicted operating state, and controlling the target motor according to the feedforward control signal.

[0062] In the embodiment of the present application, during the operation of the nuclear power wiping robot, the real-time speed of the target motor is obtained, and at the same time, the control mode matching the current working stage of the nuclear power wiping robot is determined to obtain the target control mode. Since the target motor is the motor corresponding to the driving wheel of the nuclear power wiping robot, and the nuclear power wiping robot has certain differences in the response speed and control accuracy of motion control in different working stages, therefore, based on the deviation between the real-time speed of the target motor and the expected speed, the target motor is controlled by the target control mode matching the current working stage of the wiping robot, which can achieve precise control of the target motor while better meeting the motion control requirements of the nuclear power wiping robot in different working stages, thereby improving the accuracy and control effect of the motion control of the nuclear power wiping robot, which is conducive to improving the working efficiency of the nuclear power wiping robot.

[0063] In some embodiments, before obtaining the real-time speed of the target motor, the method further includes:

[0064] The real-time rotation speed of the target motor is obtained at a first target sampling frequency. The first target sampling frequency is determined according to the current working stage of the nuclear power wiping robot. Different working stages of the nuclear power wiping robot correspond to different sampling frequencies.

[0065] It should be understood that the higher the sampling frequency of the real-time rotational speed of the target motor, the faster the speed change of the target motor can be captured, and the higher the accuracy of the obtained real-time rotational speed, so that the target motor can be controlled faster and more accurately, improving the control accuracy and dynamic response speed of the target motor, thereby improving the motion control accuracy and work efficiency of the nuclear power wiping robot.

[0066] Taking into account the requirements of different working stages of the nuclear power wiping robot during wiping the reactor pool, in an embodiment of the present application, the sampling frequency of the real-time rotational speed is determined according to the current working stage of the nuclear power wiping robot, and the first target sampling frequency is obtained. Then, during the operation of the nuclear power wiping robot, the real-time rotational speed of the target motor is obtained at the first target sampling frequency.

[0067] It should be understood that when there is no change in the current working stage of the nuclear power wiping robot, the real-time rotation speed of the target motor can always be obtained at the first target sampling frequency; when it is detected that the current working stage of the nuclear power wiping robot has changed (such as the current working stage of the wiping robot changes from the water absorption stage to the wiping stage), the first target sampling frequency will be re-determined according to the latest current working stage (such as the above-mentioned wiping stage), and the real-time rotation speed of the target motor will be obtained at the latest first target sampling frequency.

[0068] For example, at time A, it is detected that the nuclear power wiping robot starts working. At this time, the working stage of the nuclear power wiping robot is the mapping stage, that is, the current working stage of the wiping robot is the mapping stage. Then, according to the mapping stage, the first target sampling frequency is determined to be 30 seconds each time, and the real-time rotation speed of the target motor is obtained at a frequency of 30 seconds each time starting from time A; assuming that at time B, it is detected that the working stage of the nuclear power wiping robot changes from the mapping stage to the water absorption stage, then according to the water absorption stage, the new first target sampling frequency is determined to be 10 seconds each time, and the real-time rotation speed of the target motor is obtained at a frequency of 10 seconds each time starting from time B, and so on, until the nuclear power wiping robot stops working.

[0069] In an embodiment of the present application, a first target sampling frequency is determined according to the current working stage of the nuclear power wiping robot. When the current working stage of the nuclear power wiping robot has not changed, that is, in the current working node, the real-time rotation speed of the target motor is obtained with the first target sampling frequency to control the target motor, thereby meeting the requirements of the nuclear power wiping robot for control accuracy and dynamic response speed in each working stage, while effectively controlling the control cost and implementation difficulty of the motion control of the nuclear power wiping robot.

[0070] In some embodiments, the working stages of the nuclear power wiping robot include a water absorption stage, a wiping stage and a detection stage, and before obtaining the real-time rotation speed of the target motor at the first target sampling frequency, it also includes:

[0071] When the current working stage of the nuclear power wiping robot is the water absorption stage, the set first sampling frequency is determined as the first target sampling frequency.

[0072] When the current working stage of the nuclear power wiping robot is the wiping stage or the detection stage, the set second sampling frequency is determined as the first target sampling frequency, and the second sampling frequency is lower than the first sampling frequency.

[0073] It should be understood that the set first sampling frequency and second sampling frequency can be automatically calculated based on deep learning models such as large models or other intelligent algorithms according to the corresponding motion control requirements (such as control accuracy and / or dynamic response speed) of the corresponding working stage, or can be set or input by the user, and can be set specifically according to actual needs.

[0074] Since the nuclear power wiping robot needs to absorb residual water at the bottom of 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 target motor of the nuclear power wiping robot. Therefore, in an embodiment of the present application, when determining the first target sampling frequency according to the current working stage of the wiping robot, if the current working stage of the wiping robot is the water absorption stage, the set higher first sampling frequency (such as 5 seconds each time) is determined as the first target sampling frequency; if the current working stage of the wiping robot is a working stage other than the water absorption stage, that is, the wiping stage or the detection stage, the set lower second sampling frequency (such as 20 seconds each time) is determined as the first target sampling frequency.

[0075] It should be understood that the load of the target motor during the operation of the nuclear power wiping robot is usually affected by factors such as the weight of the nuclear power wiping robot and the ground conditions at the bottom of the reactor pool. For example, the weight of the nuclear power wiping robot continues to increase during the water absorption process, causing the load of the target motor to increase accordingly.

[0076] In other embodiments, considering that when the nuclear power wiping robot performs wiping operations in the wiping stage, the wiping cloth usually absorbs residual water, causing a certain change in the load of the nuclear power wiping robot. Therefore, when the current working stage of the wiping robot is the wiping stage, and the load change rate of the nuclear power wiping robot is greater than or equal to the growth threshold (such as 0.1), the set third sampling frequency can be determined as the first target sampling frequency. The load change rate is the speed at which the load changes with time or position and other related variables. For example, the load of the nuclear power wiping robot at time A is 5kg, and the load at time B is 6kg. In time period AB (i.e., the time period corresponding to time A to time B), the load change rate of the nuclear power wiping robot is 20%, where 20% is calculated by (6-5) / 5*100%.

[0077] It should be understood that the third sampling frequency is lower than the first sampling frequency, and the second sampling frequency is lower than the third sampling frequency, that is, the sampling frequencies are from high to low: the first sampling frequency, the third sampling frequency, and the second sampling frequency. The set third sampling frequency can be automatically calculated based on a deep learning model such as a large model or other intelligent algorithms according to the control accuracy requirements of the corresponding working stage, or can be set or input by the user, and can be set according to actual needs.

[0078] In an embodiment of the present application, a suitable first target sampling frequency is determined according to the degree of influence of the current working stage of the wiping robot on the rotational speed of the target motor, thereby ensuring the motor control accuracy of the nuclear power wiping robot in each working stage, that is, ensuring the motion control accuracy of the nuclear power wiping robot in each working stage.

[0079] In some embodiments, before obtaining the real-time speed of the target motor, the method further includes:

[0080] The real-time rotation speed of the target motor is obtained at a second target sampling frequency. The second target sampling frequency is determined according to the current motion type of the nuclear power wiping robot. Different motion types correspond to different sampling frequencies.

[0081] It should be understood that the movement types of the nuclear power wiping robot include but are not limited to linear movement, curved movement, climbing movement, etc. It should be noted that the linear movement of the nuclear power wiping robot here refers to the nuclear power wiping robot moving smoothly along a straight line (such as the ground slope is 0 or less than the slope threshold, such as 3°).

[0082] When the nuclear power wiping robot performs non-linear motion such as curved motion, the complexity of the motion trajectory and differences in dynamic performance may more easily lead to a decrease in the accuracy of the motion control of the nuclear power wiping robot. Therefore, in order to fully ensure the accuracy of the motion control of the nuclear power wiping robot, the sampling frequency of the real-time rotation speed can be determined according to the current motion type of the nuclear power wiping robot to obtain the second target sampling frequency. When the current motion type of the robot does not change, the real-time rotation speed of the target motor can be continuously obtained at the second target sampling frequency.

[0083] It should be understood that the second target sampling frequency can be automatically calculated based on a deep learning model such as a large model or other intelligent algorithm according to the motion control requirements (such as control accuracy and / or dynamic response speed) corresponding to the current motion type of the nuclear power wiping robot, or it can be set or input by the user, and can be set specifically according to actual needs.

[0084] In some embodiments, when determining the second target sampling frequency according to the current motion type of the nuclear power wiping robot, the first target frequency can be adjusted based on the first target frequency according to the current motion type of the nuclear power wiping robot to obtain the second target sampling frequency. For example, the adjustment weights corresponding to each motion type can be set, and the second target sampling frequency can be calculated based on the adjustment weights corresponding to the current motion type of the nuclear power wiping robot and the first target frequency. Through the above processing, a sampling frequency that matches the current working stage and motion type of the nuclear power wiping robot is obtained, so as to obtain the real-time speed of the target motor to perform motion control of the nuclear power wiping robot, thereby meeting the requirements of the nuclear power wiping robot for control accuracy and dynamic response speed when moving in different working stages and different motion types, and flexibly realizing the motion control of the nuclear power wiping robot.

[0085] It should be understood that when the nuclear power wiping robot performs non-linear motion such as curved motion or climbing motion, in order to overcome additional resistance such as friction, the target motor is usually required to provide a higher rotation speed to ensure that the nuclear power wiping robot moves at the desired motion speed. That is, when the nuclear power wiping robot performs different types of motion based on the same desired motion speed, the desired rotation speed of the target motor is usually different, wherein the desired rotation speed of the target motor can be determined according to the desired motion speed and the motion type of the desired motion.

[0086] As an example, a motion model of the nuclear power wiping robot can be established in advance according to the structural composition of the nuclear power wiping robot. During the movement of the nuclear power wiping robot, when it is detected that the motion type of the nuclear power wiping robot has changed (for example, the path planning of the nuclear power wiping robot indicates that the motion type of the nuclear power wiping robot at the next moment is different from the motion type at the current moment), the motion model is used to calculate the speed required for the drive motor (i.e., the expected speed) when the nuclear power wiping robot reaches the expected motion speed under the latest motion type, and the speed command of the drive motor is determined according to the calculated expected speed, so as to update the expected speed of the drive motor according to the calculated expected speed and control the robot to achieve the corresponding type of change.

[0087] For example, assuming that the target motor includes motor A corresponding to the left drive wheel and motor B corresponding to the right drive wheel, and assuming that the motion type of the nuclear power wiping robot is detected to change from linear motion to curvilinear motion, the expected speed A corresponding to motor A and the expected speed B corresponding to motor B can be calculated according to the constraint equation of curvilinear motion in the motion model of the nuclear power wiping robot, and then the current expected speed of the motor is updated according to the newly calculated expected speed. After the update, the expected speed of motor A is the above-mentioned expected speed A, and the expected speed of motor B is the expected speed B.

[0088] In the embodiment of the present application, a suitable sampling frequency is used to obtain the real-time rotation speed of the target motor in combination with the control requirements of the nuclear power wiping robot in different types of motion, thereby achieving flexible control of the target motor, that is, achieving flexible control of the movement of the nuclear power wiping robot, while ensuring the motion control accuracy and dynamic response speed of the nuclear power wiping robot, which is conducive to improving the control performance of the nuclear power wiping robot.

[0089] In some embodiments, the above-mentioned determination of the control mode matching the current working stage of the above-mentioned nuclear power wiping robot to obtain the target control mode includes:

[0090] When the current working stage of the nuclear power wiping robot is the water absorption stage, determining the target control mode includes feedback control and feedforward control.

[0091] In the case that the current working stage of the nuclear power wiping robot is the wiping stage or the detection stage, determining the target control method includes the feedback control.

[0092] Feedforward control is an open-loop control method that compensates for disturbances (such as changes in load).

[0093] 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 match the expected signal.

[0094] Since the nuclear power wiping robot needs to absorb the residual water at the bottom of the reactor pool when working in the water absorption stage, the load of the nuclear power wiping robot will continue to increase during the work process, and the ground conditions will usually change to a certain extent, causing the load of the nuclear power wiping robot to change continuously, that is, there is a continuous disturbance. Therefore, when the current working stage of the nuclear power wiping robot is the water absorption stage, the target control mode can be set to include feedback control and feedforward control. Since feedforward control can compensate in advance the influence of disturbances such as load changes of the nuclear power wiping robot on the speed of the target motor by predicting, and feedback control can continuously obtain the latest real-time speed of the target motor, adjust the target motor according to the deviation between the latest real-time speed and the expected speed, and further eliminate the speed deviation, therefore, the combination of feedforward control and feedback control can better guarantee the control accuracy, stability and response speed of the motion control of the nuclear power wiping robot in the process of water absorption, thereby ensuring that the nuclear power wiping robot can complete the water absorption work efficiently and stably.

[0095] When the nuclear power wiping robot is performing wiping or testing work, the load and ground conditions of the nuclear power wiping robot change little, that is, the load changes little, and the impact on the speed of the target motor is low. Therefore, when the current working stage of the nuclear power wiping robot is the wiping stage or the testing stage, the target control method can be set to include feedback control, that is, after controlling the target motor once according to the deviation between the real-time speed and the expected speed, the latest real-time speed of the target motor is continuously (such as once per second), and the control signal of the target motor is adjusted according to the deviation between the latest real-time speed and the expected speed, and the deviation between the real-time speed and the expected speed is eliminated through closed-loop control.

[0096] In an embodiment of the present application, when the current working stage of the nuclear power wiping robot is the water absorption stage with continuous disturbance, the target motor is controlled by a composite control method combining feedforward control and feedback control; when the current working stage of the nuclear power wiping robot is the wiping stage or detection stage with less disturbance, it is only necessary to control the target motor by feedback control, that is, the motor control method corresponding to the working stage is determined according to the disturbance situation in the working process, while improving the accuracy of the motion control of the nuclear power wiping robot, the complexity and control cost of the motion control of the nuclear power wiping robot are reasonably controlled to achieve the best motion control effect.

[0097] In some embodiments, the target motor is controlled by the target control method based on the deviation between the real-time speed of the target motor and the expected speed, including:

[0098] When the target control method includes the feedforward control and the feedback control, the feedforward control signal is determined according to the load change information of the nuclear power wiping robot, and the load change information reflects the load change status of the nuclear power wiping robot.

[0099] A feedback control signal is determined according to a deviation between the real-time rotation speed of the target motor and the expected rotation speed.

[0100] The target motor is controlled according to the feedforward control signal and the feedback control signal.

[0101] The above-mentioned load change information refers to information that can reflect the load change status of the nuclear power wiping robot, such as the load change rate of the nuclear power wiping robot. It should be understood that the specific change information contained in the load change information can be determined according to the current working stage and / or current motion type of the nuclear power wiping robot, or can be set by the user, and can be set according to the actual application scenario.

[0102] For example, when the current working stage of the nuclear power wiping robot is the water absorption stage, the load change information includes at least the load change rate, and may also include other change information such as the resistance change rate.

[0103] It should be understood that the feedforward control signal can be expressed as a speed compensation instruction of the target motor, which is used to adjust the expected speed of the target motor; or, the feedforward control signal can also be expressed as a drive signal of the target motor (such as a voltage signal or a current signal), which is used to drive the motor and thereby adjust the speed of the motor.

[0104] It should be understood that the feedback control signal may be expressed as a drive signal for the motor.

[0105] In the process of controlling the target motor, the disturbance existing in the movement of the nuclear power wiping robot can be analyzed according to the load change information of the nuclear power wiping robot, so as to calculate the feedforward control signal for compensating the disturbance according to the existing disturbance.

[0106] It should be understood that when determining the feedforward control signal based on the load change information of the nuclear power wiping robot, the feedforward control signal can be directly calculated based on the current load change information of the nuclear power wiping robot, so as to quickly and accurately adjust the speed of the target motor; or, the load change information of the nuclear power wiping robot at the next moment or the next time period (such as within 10 seconds after the current moment) can be predicted based on the current load change information and historical load change information of the nuclear power wiping robot, and the feedforward control signal can be calculated based on the predicted load change information. The specific calculation method can be set according to actual needs.

[0107] Optionally, when determining the feedback control signal based on the deviation between the real-time speed and the expected speed, the feedback control signal can be calculated by a proportional-integral-derivative algorithm, a neural network, or a synovial membrane control method. The specific calculation method can be set according to actual needs and is not specifically limited here.

[0108] After the feedforward control signal and the feedback control signal are obtained, the target motor can be compositely controlled according to the feedforward control signal and the feedback control signal.

[0109] It should be noted that when the feedforward control signal is a speed compensation instruction, when determining the feedback control signal based on the deviation between the real-time speed and the expected speed, the compensated expected speed can be first determined based on the speed compensation instruction and the current expected speed, and then the feedback control signal can be determined based on the deviation between the real-time speed and the compensated expected speed.

[0110] In some embodiments, the above-mentioned determination of the control mode matching the current working stage of the above-mentioned nuclear power wiping robot to obtain the target control mode includes:

[0111] When the current working stage of the nuclear power wiping robot is the wiping stage or the detection stage, and the nuclear power wiping robot is in non-linear motion, it is determined that the target control mode includes feedforward control and feedback control.

[0112] It should be understood that the above-mentioned non-linear motion refers to motion other than linear motion, such as curved motion or climbing motion.

[0113] In the embodiments of the present application, affected by factors such as additional resistance and complex dynamics of non-linear motion, the nuclear power wiping robot will usually be subject to more disturbances when performing non-linear motion. Therefore, when the current working stage of the wiping robot is in the wiping stage or the detection stage, and the nuclear power wiping robot is performing non-linear motion, it can be determined that the target control method of the target motor at this time includes feedforward control and feedback control, so as to compensate for the influence of additional disturbances on the movement of the nuclear power wiping robot through feedforward control, and then, the motion control effect of the nuclear power wiping robot is effectively improved through the composite control combining feedforward control and feedback control.

[0114] 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.

[0115] Embodiment 2:

[0116] Corresponding to the motion control method of the nuclear power wiping robot described in the above embodiment, Figure 2 A structural block diagram of a motion control device for a nuclear power wiping robot provided in an embodiment of the present application is shown. For ease of explanation, only the parts related to the embodiment of the present application are shown.

[0117] Reference Figure 2 The device includes: a speed acquisition module 21, a control mode determination module 22 and a control module 23.

[0118] The rotation speed acquisition module 21 is used to acquire the real-time rotation speed of the target motor, and the above-mentioned target motor includes the motor corresponding to the driving wheel of the nuclear power wiping robot.

[0119] The control mode determination module 22 is used to determine the control mode that matches the current working stage of the nuclear power wiping robot and obtain the target control mode.

[0120] The control module 23 is used to control the target motor by adopting the target control method based on the deviation between the real-time rotation speed of the target motor and the expected rotation speed.

[0121] In the embodiment of the present application, during the operation of the nuclear power wiping robot, the real-time speed of the target motor is obtained, and at the same time, the control mode matching the current working stage is determined according to the current working stage of the nuclear power wiping robot to obtain the target control mode. Since the target motor is the motor corresponding to the driving wheel of the nuclear power wiping robot, and the nuclear power wiping robot has certain differences in the response speed and control accuracy of motion control in different working stages, therefore, based on the deviation between the real-time speed of the target motor and the expected speed, the target motor is controlled by the target control mode matching the current working stage, which can achieve precise control of the target motor while better meeting the motion control requirements of the nuclear power wiping robot in different working stages, thereby improving the accuracy and control effect of the motion control of the nuclear power wiping robot, which is conducive to improving the working efficiency of the nuclear power wiping robot.

[0122] In some embodiments, the motion control device of the nuclear power cleaning robot further includes:

[0123] The first sampling module is used to obtain the real-time rotation speed of the above-mentioned target motor at a first target sampling frequency. The above-mentioned first target sampling frequency is determined according to the current working stage of the above-mentioned nuclear power wiping robot. The sampling frequencies corresponding to different working stages of the above-mentioned nuclear power wiping robot are different.

[0124] In some embodiments, the working phases of the nuclear power wiping robot include a water absorption phase, a wiping phase and a detection phase, and the motion control device of the nuclear power wiping robot further includes:

[0125] The first determination module is used to determine the set first sampling frequency as the above-mentioned first target sampling frequency when the current working stage of the above-mentioned nuclear power wiping robot is the above-mentioned water absorption stage.

[0126] The second determination module is used to determine the set second sampling frequency as the above-mentioned first target sampling frequency when the current working stage of the above-mentioned nuclear power wiping robot is the above-mentioned wiping stage or the above-mentioned detection stage, and the above-mentioned second sampling frequency is lower than the above-mentioned first sampling frequency.

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

[0128] The second sampling module is used to obtain the real-time rotation speed of the above-mentioned target motor at a second target sampling frequency. The above-mentioned second target sampling frequency is determined according to the current motion type of the above-mentioned nuclear power wiping robot, and different motion types correspond to different sampling frequencies.

[0129] In some embodiments, the control mode determination module 22 includes:

[0130] The first determination unit is used to determine that the target control mode includes feedback control and feedforward control when the current working stage of the nuclear power wiping robot is the water absorption stage.

[0131] The second determination unit is used to determine that the target control method includes the feedback control when the current working stage of the nuclear power wiping robot is the wiping stage or the detection stage.

[0132] In some embodiments, the target control method includes the feedforward control and the feedback control, and the control module 23 includes:

[0133] The feedforward control signal determination unit is used to determine the feedforward control signal according to the load change information of the nuclear power wiping robot.

[0134] The feedback control signal determination unit is used to determine the feedback control signal according to the deviation between the real-time rotation speed of the target motor and the expected rotation speed.

[0135] A control unit is used to control the target motor according to the feedforward control signal and the feedback control signal.

[0136] In some embodiments, the control mode determination module 22 includes:

[0137] The third determination unit is used to determine that the target control mode includes feedforward control and feedback control when the current working stage of the nuclear power wiping robot is the wiping stage or the detection stage and the nuclear power wiping robot is in non-linear motion.

[0138] 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.

[0139] Embodiment three:

[0140] Figure 3 This is a schematic diagram of the structure of an electronic device provided by an embodiment of the present application. Figure 3 As shown, the electronic device 3 of this embodiment includes: at least one processor 30 ( Figure 3 Only one processor is shown in the figure), a memory 31, and a computer program 32 stored in the memory 31 and executable on the at least one processor 30, wherein the processor 30 implements the steps in any of the above-mentioned method embodiments when executing the computer program 32.

[0141] The electronic device 3 may be a computing device such as a desktop computer, a notebook, a PDA, or a cloud server. The electronic device may include, but is not limited to, a processor 30 and a memory 31. Those skilled in the art will appreciate that Figure 3 It is only an example of the electronic device 3 and does not constitute a limitation on the electronic device 3. It may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, it may also include input and output devices, network access devices, etc.

[0142] The processor 30 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc.

[0143] In some embodiments, the memory 31 may be an internal storage unit of the electronic device 3, such as a hard disk or memory of the electronic device 3. In other embodiments, the memory 31 may also be an external storage device of the electronic device 3, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), etc. equipped on the electronic device 3. Further, the memory 31 may also include both an internal storage unit of the electronic device 3 and an external storage device. The memory 31 is used to store an operating system, an application program, a boot loader (BootLoader), data, and other programs, such as the program code of the computer program, etc. The memory 31 may also be used to temporarily store data that has been output or is to be output.

[0144] 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.

[0145] 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.

[0146] 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.

[0147] 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.

[0148] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the processes in the above-mentioned embodiment method, which can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a computer-readable storage medium. When the computer program is executed by the processor, the steps of the above-mentioned various method embodiments can be implemented. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may at least include: any entity or device that can carry the computer program code to the camera / electronic device, recording medium, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, RandomAccess Memory), electric carrier signal, telecommunication signal and software distribution medium. For example, a USB flash drive, a mobile hard disk, a magnetic disk or an optical disk. In some jurisdictions, according to legislation and patent practice, computer-readable media cannot be electric carrier signals and telecommunication signals.

[0149] 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.

[0150] 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.

[0151] 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.

[0152] 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.

[0153] 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 motion control method for a nuclear power wiping robot, characterized in that: include: Acquire the real-time rotation speed of the target motor, wherein the target motor includes the motor corresponding to the driving wheel of the nuclear power wiping robot; Determine a control mode that matches the current working stage of the nuclear power wiping robot to obtain a target control mode; Based on the deviation between the real-time rotation speed of the target motor and the expected rotation speed, the target motor is controlled by adopting the target control method.

2. The motion control method of the nuclear power wiping robot according to claim 1, characterized in that: Before obtaining the real-time rotation speed of the target motor, the method further includes: The real-time rotation speed of the target motor is obtained at a first target sampling frequency, wherein the first target sampling frequency is determined according to the current working stage of the nuclear power wiping robot, and different working stages of the nuclear power wiping robot correspond to different sampling frequencies.

3. The motion control method of the nuclear power wiping robot as claimed in claim 2, characterized in that: The working stages of the nuclear power wiping robot include a water absorption stage, a wiping stage and a detection stage. Before acquiring the real-time rotation speed of the target motor at the first target sampling frequency, the robot also includes: When the current working stage of the nuclear power wiping robot is the water absorption stage, the set first sampling frequency is determined as the first target sampling frequency; When the current working stage of the nuclear power wiping robot is the wiping stage or the detection stage, the set second sampling frequency is determined as the first target sampling frequency, and the second sampling frequency is lower than the first sampling frequency.

4. The motion control method of the nuclear power wiping robot according to claim 1, characterized in that: Before obtaining the real-time rotation speed of the target motor, the method further includes: The real-time rotation speed of the target motor is obtained at a second target sampling frequency, and the second target sampling frequency is determined according to the current motion type of the nuclear power wiping robot, and different motion types correspond to different sampling frequencies.

5. The motion control method of the nuclear power wiping robot according to claim 1, characterized in that: The step of determining a control mode that matches the current working phase of the nuclear power wiping robot to obtain a target control mode includes: In the case where the current working stage of the nuclear power wiping robot is the water absorption stage, determining that the target control mode includes feedback control and feedforward control; When the current working phase of the nuclear power wiping robot is the wiping phase or the detection phase, determining that the target control mode includes the feedback control.

6. The motion control method of the nuclear power wiping robot as claimed in claim 5, characterized in that: The method of controlling the target motor by using the target control method based on the deviation between the real-time speed of the target motor and the expected speed includes: In the case where the target control mode includes the feedforward control and the feedback control, a feedforward control signal is determined according to the load change information of the nuclear power wiping robot, and the load change information reflects the load change status of the nuclear power wiping robot; Determining a feedback control signal according to a deviation between the real-time rotation speed of the target motor and the expected rotation speed; The target motor is controlled according to the feedforward control signal and the feedback control signal.

7. The motion control method of a nuclear power wiping robot according to any one of claims 1 to 6, characterized in that: The step of determining a control mode that matches the current working phase of the nuclear power wiping robot to obtain a target control mode includes: When the current working stage of the nuclear power wiping robot is the wiping stage or the detection stage, and the nuclear power wiping robot is in non-linear motion, determining that the target control mode includes feedforward control and feedback control.

8. A motion control device for a nuclear power wiping robot, characterized in that: include: A rotation speed acquisition module, used to acquire the real-time rotation speed of a target motor, wherein the target motor includes a motor corresponding to a driving wheel of a nuclear power wiping robot; A control mode determination module is used to determine a control mode that matches the current working stage of the nuclear power wiping robot and obtain a target control mode; A control module is used to control the target motor by adopting the target control method based on the deviation between the real-time rotation speed of the target motor and the expected rotation speed.

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

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

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