Method and device for controlling movement of nuclear power wiping robot and electronic equipment

Abstract

The application is suitable for the technical field of robot control, and provides a motion control method and device of a nuclear power wiping robot and electronic equipment, comprising: acquiring a real-time rotating speed of a target motor, the target motor comprising a motor corresponding to a driving wheel of the nuclear power wiping robot; determining a control mode matched with a current working stage of the nuclear power wiping robot to obtain a target control mode; and controlling the target motor by using the target control mode based on a deviation between the real-time rotating speed of the target motor and an expected rotating speed. The application can improve the accuracy of motion control of the nuclear power wiping robot.

Description

Technical Field

[0001] This application belongs to the field of robot control technology, and in particular relates to motion 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, nuclear waste typically accumulates at the bottom of the reactor pool during this circulation process. To ensure a clean internal environment, the reactor pool is usually cleaned during shutdown, and the residual water at the bottom is wiped away to prevent potentially radioactive residual water from corroding reactor equipment and causing contamination.

[0003] Currently, to improve the safety of wiping residual water in reactor pools, nuclear power plant wiping robots can be used to wipe the reactor pools. However, these robots typically set the speed of the drive wheel motors directly based on the set robot movement speed, without paying attention to whether the speed of the drive wheel motors reaches the expected speed during the operation of the nuclear power plant wiping robot. As a result, the motion control precision of nuclear power plant wiping robots is limited. Summary of the Invention

[0004] This application provides a motion control method, device, and electronic equipment for nuclear power plant cleaning robots, which can improve the accuracy of motion control for nuclear power plant cleaning robots.

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

[0006] The real-time rotational speed of the target motor is obtained, and the target motor includes the motor corresponding to the drive wheel of the nuclear power plant wiping robot;

[0007] Determine the control method that matches the current working stage of the nuclear power plant cleaning robot to obtain the target control method;

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

[0009] In one possible implementation of the first aspect, prior to obtaining the real-time speed of the target motor, the method further includes:

[0010] The real-time rotational speed of the target motor is obtained at a first target sampling frequency, which is determined according to the current working stage of the nuclear power plant wiping robot. The sampling frequency is different for different working stages of the nuclear power plant wiping robot.

[0011] In one possible implementation of the first aspect, the working phases of the nuclear power plant wiping robot include a water absorption phase, a wiping phase, and a detection phase, and before acquiring the real-time rotational speed of the target motor at a first target sampling frequency, it further includes:

[0012] When the current working stage of the nuclear power plant 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 plant 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 one possible implementation of the first aspect, prior to obtaining the real-time speed of the target motor, the method further includes:

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

[0016] In one possible implementation of the first aspect, determining the control mode that matches the current working stage of the nuclear power plant cleaning robot to obtain the target control mode includes:

[0017] When the current working stage of the nuclear power plant cleaning robot is the water absorption stage, the target control method is determined to include feedback control and feedforward control;

[0018] When the current working stage of the nuclear power plant wiping robot is the wiping stage or the inspection stage, the target control method is determined to include the feedback control.

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

[0020] When the target control method includes the feedforward control and the feedback control, the feedforward control signal is determined based on the load change information of the nuclear power plant wiping robot;

[0021] The feedback control signal is determined based on the deviation between the real-time speed of the target motor and the expected speed.

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

[0023] In one possible implementation of the first aspect, determining the control mode that matches the current working stage of the nuclear power plant cleaning robot to obtain the target control mode includes:

[0024] When the current working stage of the nuclear power plant wiping robot is the wiping stage or the inspection stage, and the nuclear power plant wiping robot is in non-linear motion, the target control method is determined to include feedforward control and feedback control.

[0025] Secondly, embodiments of this application provide a motion control device for a nuclear power plant cleaning robot, comprising:

[0026] The rotation speed acquisition module is used to acquire the real-time rotation speed of the target motor, which includes the motor corresponding to the drive wheel of the nuclear power plant wiping robot;

[0027] The control mode determination module is used to determine the control mode that matches the current working stage of the nuclear power plant wiping robot, thereby obtaining the target control mode.

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

[0029] 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 motion control method for the nuclear power plant wiping robot described in the first aspect.

[0030] 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 motion control method for the nuclear power plant wiping robot described in the first aspect.

[0031] Fifthly, embodiments of this application provide a computer program product that, when run on an electronic device, causes the electronic device to execute the motion control method for the nuclear power plant wiping robot described in the first aspect.

[0032] The beneficial effects of the embodiments of this application compared with the prior art are:

[0033] In this embodiment, during the operation of the nuclear power plant cleaning robot, the real-time rotational speed of the target motor is acquired. Simultaneously, a matching control method is determined based on the current working stage of the nuclear power plant cleaning robot, resulting in a target control method. Since the target motor is the motor corresponding to the drive wheel of the nuclear power plant cleaning robot, and the target control method is a control method matched to the current working stage of the nuclear power plant cleaning robot, using this target control method to control the target motor based on the deviation between the real-time rotational speed and the expected rotational speed can achieve better precise control of the target motor, thereby improving the motion control accuracy of the nuclear power plant cleaning robot and contributing to improved working efficiency. Attached Figure Description

[0034] 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.

[0035] Figure 1 This is a schematic flowchart of a motion control method for a nuclear power plant wiping robot provided in one embodiment of this application;

[0036] Figure 2 This is a schematic diagram of the motion control device for the nuclear power plant wiping robot provided in the embodiments of this application;

[0037] Figure 3 This is a schematic diagram of the structure of the electronic device provided in the embodiments of this application. Detailed Implementation

[0038] 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.

[0039] 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.

[0040] 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.

[0041] 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.

[0042] 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.

[0043] Example 1:

[0044] Figure 1 A schematic flowchart of a motion control method for a nuclear power plant wiping robot according to an embodiment of this application is shown, and is described in detail below:

[0045] S101. Obtain the real-time rotational speed of the target motor, including the motor corresponding to the drive wheel of the nuclear power plant wiping robot.

[0046] It should be understood that when obtaining the real-time speed of the target motor, it can be obtained through sensory methods such as encoders or Hall sensors, or through non-sensory methods such as observers, frequency conversion methods, and sensorless field-oriented control. It can also be obtained through a combination of sensory and non-sensory methods. The specific method can be set according to actual needs.

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

[0048] S102. Determine the control method that matches the current working stage of the nuclear power plant wiping robot to obtain the target control method.

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

[0050] The mapping stage refers to the stage in which the nuclear power plant cleaning robot collects image data of various areas of the reactor pool through camera equipment during its movement, and then builds 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 plant cleaning robot extracts residual water from the bottom of the reactor pool using equipment with strong adsorption capabilities, such as a vacuum motor, during its movement.

[0052] The wiping phase refers to the stage during which the nuclear power plant wiping robot wipes the bottom of the reactor pool using a wiping cloth during its movement.

[0053] The detection phase refers to the stage during which the nuclear power plant cleaning robot detects the radiation dose in various areas of the reactor pool using radiation dose detectors such as gamma dosimeters during its movement.

[0054] It should be understood that motor control methods 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 may include open-loop control, feedforward control, and feedback control.

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

[0056] Because the requirements for motion control response speed and control accuracy of nuclear power plant cleaning robots vary in different working stages, it is necessary to determine the control method that matches the current working stage of the nuclear power plant cleaning robot before controlling the target motor. This results in a target control method, which can better meet the motion control requirements of the nuclear power plant cleaning robot in different working stages. This improves the control accuracy and work efficiency of the nuclear power plant cleaning robot while reducing the control cost and implementation difficulty, thus achieving the best motion control effect in each working stage.

[0057] S103. Based on the deviation between the real-time speed and the expected speed of the target motor, the target motor is controlled using the target control method described above.

[0058] It should be understood that the expected rotational speed of the target motor is usually determined based on the expected movement speed of the nuclear power plant cleaning robot.

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

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

[0061] For example, assuming 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 uses the target motor model and current operating state information (including the deviation between the real-time speed and the expected speed and information such as external disturbances) to predict the future operating state of the target motor, thereby calculating the feedforward control signal based on the predicted operating state, and controlling the target motor based on the feedforward control signal.

[0062] In this embodiment, during the operation of the nuclear power plant cleaning robot, the real-time rotational speed of the target motor is acquired. Simultaneously, a control method matching the current working stage of the nuclear power plant cleaning robot is determined, resulting in a target control method. Since the target motor corresponds to the drive wheel of the nuclear power plant cleaning robot, and the robot's requirements for motion control response speed and accuracy differ across different working stages, the target motor is controlled using a target control method matching the current working stage, based on the deviation between its real-time and expected rotational speeds. This allows for precise control of the target motor while effectively meeting the motion control needs of the nuclear power plant cleaning robot at different working stages, thereby improving the accuracy and effectiveness of motion control and ultimately enhancing the robot's working efficiency.

[0063] In some embodiments, prior to obtaining the real-time speed of the target motor as described above, the method further includes:

[0064] The real-time rotational 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 plant wiping robot. The sampling frequency is different for different working stages of the nuclear power plant wiping robot.

[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 real-time rotational speed obtained. This allows for faster and more accurate control of the target motor, improving the control precision and dynamic response speed of the target motor, thereby improving the motion control precision and working efficiency of the nuclear power plant wiping robot.

[0066] Considering the different working stages of the nuclear power plant cleaning robot during the cleaning of the reactor pool, in this embodiment of the application, the sampling frequency of the real-time rotation speed is determined according to the current working stage of the nuclear power plant cleaning robot to obtain a first target sampling frequency. Then, during the operation of the nuclear power plant cleaning robot, the real-time rotation speed of the target motor is obtained using the first target sampling frequency.

[0067] It should be understood that, as long as the current working stage of the nuclear power plant wiping robot remains unchanged, the real-time rotational speed of the target motor can be continuously obtained at the first target sampling frequency. If a change is detected in the current working stage of the nuclear power plant wiping robot (e.g., 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 based on the latest current working stage (e.g., the wiping stage mentioned above), and the real-time rotational speed of the target motor will be obtained at the latest first target sampling frequency.

[0068] For example, if the nuclear power plant cleaning robot starts working at time A, and its current working stage is the mapping stage, then the sampling frequency for the first target is determined to be once every 30 seconds. Starting from time A, the real-time rotation speed of the target motor is acquired at a frequency of once every 30 seconds. If the nuclear power plant cleaning robot changes its working stage from the mapping stage to the water absorption stage at time B, then the sampling frequency for the first target is determined to be once every 10 seconds. Starting from time B, the real-time rotation speed of the target motor is acquired at a frequency of once every 10 seconds, and so on, until the nuclear power plant cleaning robot stops working.

[0069] In this embodiment, a first target sampling frequency is determined based on the current working stage of the nuclear power plant wiping robot. When the current working stage of the nuclear power plant wiping robot does not change, that is, in the current working node, the real-time rotation speed of the target motor is obtained using the first target sampling frequency to control the target motor, thereby meeting the requirements of the nuclear power plant wiping robot for control accuracy and dynamic response speed at each working stage, while effectively controlling the control cost and implementation difficulty of the motion control of the nuclear power plant wiping robot.

[0070] In some embodiments, the working stages of the nuclear power plant wiping robot include a water absorption stage, a wiping stage, and a detection stage. Prior to acquiring the real-time rotational speed of the target motor at the first target sampling frequency, the robot further includes:

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

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

[0073] It should be understood that the first and second sampling frequencies 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) at the corresponding working stage, or they can be set or input by the user. The specific settings can be made according to actual needs.

[0074] Since the nuclear power plant wiping robot needs to absorb residual water from the bottom of the reactor pool during the water absorption phase, the load on the nuclear power plant wiping robot usually increases continuously during this phase, which may have a significant impact on the rotational speed of the target motor of the nuclear power plant wiping robot. Therefore, in this embodiment, when determining the first target sampling frequency based on the current working phase of the wiping robot, if the current working phase of the wiping robot is the water absorption phase, a higher first sampling frequency (e.g., 5 seconds per sampling) is set as the first target sampling frequency; if the current working phase of the wiping robot is a working phase other than the water absorption phase, i.e., the wiping phase or the detection phase, a lower second sampling frequency (e.g., 20 seconds per sampling) is set as the first target sampling frequency.

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

[0076] In other embodiments, considering that the wiping cloth usually absorbs residual water when the nuclear power plant wiping robot performs wiping operations during the wiping phase, causing a certain change in the load of the nuclear power plant wiping robot, therefore, when the current working phase of the wiping robot is the wiping phase, and the load change rate of the nuclear power plant wiping robot is greater than or equal to the growth threshold (e.g., 0.1), the set third sampling frequency can be determined as the first target sampling frequency. The load change rate is the rate at which the load changes with time or location and other related variables. For example, if the load of the nuclear power plant wiping robot is 5 kg at time A and 6 kg at time B, then the load change rate of the nuclear power plant wiping robot in the time period AB (i.e., the time period from time A to time B) 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 from high to low are: first sampling frequency, third sampling frequency, and second sampling frequency. The set third sampling frequency can be automatically calculated based on the control accuracy requirements of the corresponding working stage using deep learning models such as large-scale models or other intelligent algorithms, or it can be set or input by the user. The specific setting can be based on actual needs.

[0078] In this embodiment, a suitable first target sampling frequency is determined based on 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, prior to obtaining the real-time speed of the target motor as described above, the method further includes:

[0080] The real-time rotational speed of the target motor is obtained using a second target sampling frequency. The second target sampling frequency is determined based on the current motion type of the nuclear power plant wiping robot, and different sampling frequencies correspond to different motion types.

[0081] It should be understood that the motion types of nuclear power plant cleaning robots include, but are not limited to, linear motion, curvilinear motion, and climbing motion. It should be noted that linear motion here refers to the smooth movement of the nuclear power plant cleaning robot along a straight line (e.g., when the ground slope is 0 degrees or less than a slope threshold, such as 3 degrees).

[0082] Because nuclear power plant cleaning robots are prone to reduced motion control accuracy when performing non-linear movements such as curvilinear motions, due to the complexity of their motion trajectories and differences in dynamic performance, a second target sampling frequency can be obtained based on the current motion type of the nuclear power plant cleaning robot to fully ensure the accuracy of motion control.

[0083] It should be understood that the second target sampling frequency can be automatically calculated based on deep learning models such as large models or other intelligent algorithms 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 plant wiping robot, or it can be set or input by the user. The specific setting can be made according to actual needs.

[0084] In some embodiments, when determining the second target sampling frequency based on the current motion type of the nuclear power plant cleaning robot, the first target frequency can be used as a base, and adjusted according to the current motion type of the nuclear power plant cleaning robot to obtain the second target sampling frequency. For example, 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 plant cleaning robot and the first target frequency. Through the above processing, a sampling frequency matching the current working stage and motion type of the nuclear power plant cleaning robot is obtained, thereby acquiring the real-time rotational speed of the target motor for motion control of the nuclear power plant cleaning robot. This satisfies the requirements of the nuclear power plant cleaning robot for control accuracy and dynamic response speed when moving under different working stages and different motion types, and flexibly realizes the motion control of the nuclear power plant cleaning robot.

[0085] It should be understood that when nuclear power plant cleaning robots perform non-linear movements such as curvilinear or incline movements, the target motor typically needs to provide a higher rotational speed to overcome additional resistance such as friction, ensuring that the nuclear power plant cleaning robot moves at the desired speed. That is, when a nuclear power plant cleaning robot performs different types of movements based on the same desired speed, the desired rotational speed of the target motor is usually different. The desired rotational speed of the target motor can be determined based on the desired speed and the type of movement required.

[0086] As an example, a motion model of the nuclear power plant cleaning robot can be established in advance based on its structural composition. During the robot's movement, when a change in its motion type is detected (e.g., the robot's path planning indicates that its motion type at the next moment is different from its current motion type), the motion model calculates the required rotational speed (i.e., the expected rotational speed) of the drive motor to reach the expected motion speed under the latest motion type. Based on the calculated expected rotational speed, the rotational speed command of the drive motor is determined, and the expected rotational speed of the drive motor is updated accordingly to control the robot to achieve the corresponding type of change.

[0087] For example, assuming the target motors include motor A corresponding to the left drive wheel and motor B corresponding to the right drive wheel, and assuming the motion type of the nuclear power plant cleaning robot changes 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 based on the constraint equation of curvilinear motion in the motion model of the nuclear power plant cleaning robot. Then, the current expected speed of the motors is updated based on the newly calculated expected speeds. After the update, the expected speed of motor A is the aforementioned expected speed A, and the expected speed of motor B is the expected speed B.

[0088] In this embodiment, the real-time rotational speed of the target motor is obtained by using an appropriate sampling frequency, taking into account the control requirements of the nuclear power plant wiping robot in different types of motion. This enables flexible control of the target motor, i.e., flexible control of the nuclear power plant wiping robot's motion, while ensuring the motion control accuracy and dynamic response speed of the nuclear power plant wiping robot, which is beneficial to improving the control performance of the nuclear power plant wiping robot.

[0089] In some embodiments, the above-determined control method matching the current working stage of the nuclear power plant cleaning robot, to obtain the target control method, includes:

[0090] Given that the current working stage of the aforementioned nuclear power plant wiping robot is the water absorption stage, the target control methods are determined to include feedback control and feedforward control.

[0091] Given that the current working stage of the aforementioned nuclear power plant wiping robot is the wiping stage or the inspection stage, the aforementioned target control method is determined to include the aforementioned feedback control.

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

[0093] 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.

[0094] Because the nuclear power plant cleaning robot needs to absorb residual water from the bottom of the reactor pool during the water absorption phase, its load continuously increases, and ground conditions often change, causing continuous fluctuations in the robot's load. Therefore, when the robot is currently in the water absorption phase, target control methods including feedback control and feedforward control can be implemented. Feedforward control can predictively compensate for the impact of load changes and other disturbances on the target motor's speed, while feedback control continuously acquires the latest real-time speed of the target motor and adjusts it based on the deviation between the latest real-time speed and the desired speed to further eliminate speed deviations. Therefore, combining feedforward and feedback control can effectively ensure the motion control accuracy, stability, and response speed of the nuclear power plant cleaning robot during the water absorption process, thus ensuring that the robot can complete the water absorption work efficiently and stably.

[0095] Because the load and ground conditions of the nuclear power plant wiping robot change little during wiping or inspection work, the impact on the target motor's speed is relatively low. Therefore, when the nuclear power plant wiping robot is currently in the wiping or inspection phase, a target control method including feedback control can be set. That is, after controlling the target motor once based on the deviation between the real-time speed and the expected speed, the latest real-time speed of the target motor is continuously (e.g., once per second) acquired, and the control signal of the target motor is adjusted according to the deviation between the latest real-time speed and the expected speed. The deviation between the real-time speed and the expected speed is eliminated through closed-loop control.

[0096] In this embodiment, when the current working stage of the nuclear power plant wiping robot is the water absorption stage with continuous disturbances, 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 plant wiping robot is the wiping stage or detection stage with less disturbance, only feedback control is needed to control the target motor. That is, the motor control method corresponding to the working stage is determined according to the disturbance situation during the working process. This improves the accuracy of motion control of the nuclear power plant wiping robot while reasonably controlling the complexity and cost of motion control, thus achieving the best motion control effect.

[0097] In some embodiments, the above-mentioned target control method for controlling the target motor based on the deviation between the real-time speed and the expected speed of the target motor includes:

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

[0099] The feedback control signal is determined based on the deviation between the real-time speed of the target motor and the expected speed.

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

[0101] The aforementioned load change information refers to information that reflects the load change status of the nuclear power plant cleaning robot, such as the load change rate of the nuclear power plant cleaning robot. It should be understood that the specific change information included in the load change information can be determined based on the current working stage and / or current motion type of the nuclear power plant cleaning robot, or it can be set by the user. The specific settings can be made according to the actual application scenario.

[0102] For example, if the nuclear power plant cleaning robot is currently in the water absorption phase, the load change information should include 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 command for the target motor, used to adjust the expected speed of the target motor; or, the feedforward control signal can also be expressed as a drive signal (such as a voltage signal or a current signal) for the target motor, used to drive the motor, thereby adjusting the speed of the motor.

[0104] It should be understood that the feedback control signal can be represented as the motor drive signal.

[0105] In the process of controlling the target motor, the disturbances existing in the movement of the nuclear power wiping robot can be analyzed based on the load change information of the nuclear power wiping robot, and then the feedforward control signal used to compensate for the disturbance can be calculated based on 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 plant cleaning robot, the feedforward control signal can be calculated directly based on the current load change information of the nuclear power plant cleaning robot, thereby quickly and accurately adjusting the speed of the target motor; or, the load change information of the nuclear power plant cleaning robot in 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, 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 rotational speed and the expected rotational speed, the feedback control signal can be calculated using methods such as proportional-integral-derivative (PID), neural networks, or sliding diaphragm control. The specific calculation method can be set according to actual needs, and no specific restrictions are imposed here.

[0108] After obtaining the feedforward control signal and the feedback control signal, the target motor can be subjected to composite control based on the feedforward control signal and the feedback control signal.

[0109] It should be noted that when the feedforward control signal is a speed compensation command, 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 determined first based on the speed compensation command 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-determined control method matching the current working stage of the nuclear power plant cleaning robot, to obtain the target control method, includes:

[0111] Given that the current working stage of the aforementioned nuclear power plant wiping robot is the wiping stage or the inspection stage, and that the aforementioned nuclear power plant wiping robot is in non-linear motion, the aforementioned target control methods are determined to include 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 curvilinear motion or uphill motion.

[0113] In this embodiment, due to factors such as additional resistance and complex dynamics of non-linear motion, the nuclear power plant wiping robot is usually subject to more disturbances when performing non-linear motion. Therefore, when the wiping robot is currently in the wiping or detection stage and is performing non-linear motion, it can be determined that the target control method of the target motor includes feedforward control and feedback control. Feedforward control is used to compensate for the impact of additional disturbances on the motion of the nuclear power plant wiping robot. In turn, the composite control combining feedforward control and feedback control effectively improves the motion control effect of the nuclear power plant wiping robot.

[0114] 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.

[0115] Example 2:

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

[0118] The rotation speed acquisition module 21 is used to acquire the real-time rotation speed of the target motor, which includes the motor corresponding to the drive wheel of the nuclear power plant 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 plant wiping robot and obtain the target control mode.

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

[0121] In this embodiment, during the operation of the nuclear power plant cleaning robot, the real-time rotational speed of the target motor is acquired. Simultaneously, a control method matching the current working stage of the nuclear power plant cleaning robot is determined, resulting in a target control method. Since the target motor corresponds to the drive wheel of the nuclear power plant cleaning robot, and the robot's requirements for motion control response speed and accuracy differ across different working stages, using a target control method matching the current working stage based on the deviation between the real-time rotational speed and the expected rotational speed allows for precise control of the target motor while effectively meeting the motion control needs of the nuclear power plant cleaning robot at different working stages. This improves the accuracy and effectiveness of the nuclear power plant cleaning robot's motion control, ultimately enhancing its working efficiency.

[0122] In some embodiments, the motion control device for the nuclear power plant wiping robot further includes:

[0123] The first sampling module is used to acquire the real-time rotational speed of the target motor at a first target sampling frequency. The first target sampling frequency is determined according to the current working stage of the nuclear power plant wiping robot, and the sampling frequency is different for different working stages of the nuclear power plant wiping robot.

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

[0125] The first determining module is used to determine the first sampling frequency as the first target sampling frequency when the current working stage of the nuclear power plant wiping robot is the water absorption stage.

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

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

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

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

[0130] The first determining unit is used to determine, when the current working stage of the nuclear power plant wiping robot is the water absorption stage, whether the target control method includes feedback control and feedforward control.

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

[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 based on the load change information of the nuclear power plant wiping robot.

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

[0135] The 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 method determination module 22 includes:

[0137] The third determining unit is used to determine the target control method, including feedforward control and feedback control, when the current working stage of the nuclear power plant wiping robot is the wiping stage or the detection stage, and the nuclear power plant wiping robot is in non-linear motion.

[0138] 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.

[0139] Example 3:

[0140] Figure 3 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Figure 3 As shown, the electronic device 3 of this embodiment includes: at least one processor 30 ( Figure 3 The diagram shows only one processor, a memory 31, and a computer program 32 stored in the memory 31 and executable on the at least one processor 30, wherein the processor 30 executes the computer program 32 to implement the steps in any of the above method embodiments.

[0141] The electronic device 3 can be a desktop computer, laptop, handheld computer, or cloud server, etc. This electronic device may include, but is not limited to, a processor 30 and a memory 31. Those skilled in the art will understand that... Figure 3 This is merely an example of electronic device 3 and does not constitute a limitation on electronic device 3. It may include more or fewer components than shown in the figure, or combine certain components, or different components. For example, it may also include input / output devices, network access devices, etc.

[0142] The processor 30 may be a Central Processing Unit (CPU), or it may be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor.

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

[0144] 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.

[0145] 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.

[0146] 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.

[0147] 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.

[0148] 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 methods of the above 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, portable hard 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.

[0149] 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.

[0150] 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.

[0151] 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.

[0152] 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.

[0153] 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 motion control method for a nuclear power plant cleaning robot, characterized in that, include: The real-time rotational speed of the target motor is obtained, and the target motor includes the motor corresponding to the drive wheel of the nuclear power plant wiping robot; Determine the control method that matches the current working stage of the nuclear power plant cleaning robot to obtain the target control method; Based on the deviation between the real-time speed of the target motor and the expected speed, the target motor is controlled using the target control method. The step of determining the control method that matches the current working stage of the nuclear power plant cleaning robot to obtain the target control method includes: When the current working stage of the nuclear power plant cleaning robot is the water absorption stage, the target control method is determined to include feedback control and feedforward control; When the current working stage of the nuclear power plant wiping robot is the wiping stage or the inspection stage, the target control method is determined to include the feedback control.

2. The motion control method for the nuclear power plant cleaning robot as described in claim 1, characterized in that, Before obtaining the real-time speed of the target motor, the method further includes: The real-time rotational speed of the target motor is obtained at a first target sampling frequency, which is determined according to the current working stage of the nuclear power plant wiping robot. The sampling frequency is different for different working stages of the nuclear power plant wiping robot.

3. The motion control method for the nuclear power plant cleaning robot as described in claim 2, characterized in that, The working stages of the nuclear power plant wiping robot include a water absorption stage, a wiping stage, and a detection stage. Before acquiring the real-time rotational speed of the target motor at a first target sampling frequency, the robot further includes: When the current working stage of the nuclear power plant 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 plant 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 for the nuclear power plant cleaning robot as described in claim 1, characterized in that, Before obtaining the real-time speed of the target motor, the method further includes: The real-time rotational speed of the target motor is obtained at a second target sampling frequency, which is determined according to the current motion type of the nuclear power plant wiping robot. Different motion types correspond to different sampling frequencies.

5. The motion control method for the nuclear power plant cleaning robot as described in claim 1, characterized in that, The control of the target motor using the target control method based on the deviation between the real-time speed and the expected speed of the target motor includes: When the target control method includes the feedforward control and the feedback control, the feedforward control signal is determined based on the load change information of the nuclear power plant wiping robot, and the load change information reflects the load change status of the nuclear power plant wiping robot; The feedback control signal is determined based on the deviation between the real-time speed of the target motor and the expected speed. The target motor is controlled according to the feedforward control signal and the feedback control signal.

6. The motion control method for the nuclear power plant cleaning robot as described in any one of claims 1 to 5, characterized in that, The determination of the control method that matches the current working stage of the nuclear power plant cleaning robot, to obtain the target control method, includes: When the current working stage of the nuclear power plant wiping robot is the wiping stage or the inspection stage, and the nuclear power plant wiping robot is in non-linear motion, the target control method is determined to include feedforward control and feedback control.

7. A motion control device for a nuclear power plant cleaning robot, characterized in that, include: The rotation speed acquisition module is used to acquire the real-time rotation speed of the target motor, which includes the motor corresponding to the drive wheel of the nuclear power plant wiping robot; The control mode determination module is used to determine the control mode that matches the current working stage of the nuclear power plant wiping robot, thereby obtaining the target control mode. The control module is used to control the target motor using the target control method based on the deviation between the real-time speed and the expected speed of the target motor. The control mode determination module includes: The first determining unit is configured to determine, when the current working stage of the nuclear power plant wiping robot is the water absorption stage, that the target control method includes feedback control and feedforward control. The second determining unit is used to determine, when the current working stage of the nuclear power plant wiping robot is the wiping stage or the detection stage, that the target control method includes the feedback control.

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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