Motion control method and device of reactor pool cleaning robot and electronic equipment

Abstract

The invention is suitable for the technical field of robots, and provides a motion control method and device of a reactor pool cleaning robot and electronic equipment.The method comprises the steps that feedforward control is conducted on the reactor pool cleaning robot according to expected motion information, and actual motion information is obtained; the feedforward control is used for predicting the motion state of the reactor pool cleaning robot according to the expected motion information and compensating the motion of the reactor pool cleaning robot according to the predicted motion state; performing feedback control on the reactor pool cleaning robot according to the actual motion information and the expected motion information, and adjusting the actual motion information according to a feedback control result; the feedback control is used for controlling the deviation degree of the actual motion information and the expected motion information. The motion control accuracy of the nuclear power plant reactor pool cleaning robot can be improved.

Description

Technical Field

[0001] The present application belongs to the field of robotics technology, and in particular, relates to a motion control method, device, electronic equipment and computer-readable storage medium for a reactor pool cleaning robot. Background Art

[0002] With the extensive development of nuclear power technology, the number of nuclear power plants and the areas occupied by nuclear power plants are increasing. In the operation of nuclear power plants, various nuclear wastes are inevitably generated, such as suspended matter and radioactive substances deposited at the bottom of the reactor pool due to the circulation of cooling water. These nuclear wastes are usually radioactive and will affect the normal operation of nuclear power plants and the staff of nuclear power plants.

[0003] At present, in order to improve the cleaning efficiency and safety of nuclear waste, reactor pool cleaning robots can be used to replace manual cleaning. However, due to the large number of precision instruments in nuclear power plants, the motion control of reactor pool cleaning robots has more stringent accuracy requirements. The motion control process of traditional reactor pool cleaning robots is not accurate enough to meet this requirement. Summary of the invention

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

[0005] In a first aspect, an embodiment of the present application provides a motion control method for a reactor pool cleaning robot, comprising:

[0006] Acquiring a motion instruction, wherein the motion instruction includes expected motion information of the reactor pool cleaning robot during the motion process;

[0007] The reactor pool cleaning robot is feedforward controlled according to the expected motion information to obtain actual motion information; the feedforward control is used to predict the motion state of the reactor pool cleaning robot according to the expected motion information, and compensate the motion of the reactor pool cleaning robot according to the predicted motion state, so that the actual motion information of the reactor pool cleaning robot is close to the expected motion information;

[0008] Feedback control is performed on the reactor pool cleaning robot according to the actual motion information and the expected motion information, and the actual motion information is adjusted according to the result of feedback control so that the adjusted actual motion information of the reactor pool cleaning robot is consistent with the expected motion information; the feedback control is used to control the degree of deviation between the actual motion information and the expected motion information.

[0009] In a second aspect, an embodiment of the present application provides a motion control device for a reactor pool cleaning robot, comprising:

[0010] A motion instruction acquisition module, used for acquiring motion instructions, wherein the motion instructions include expected motion information of the reactor pool cleaning robot during motion;

[0011] A feedforward control module is used to perform feedforward control on the reactor pool cleaning robot according to the expected motion information to obtain actual motion information; the feedforward control is used to predict the motion state of the reactor pool cleaning robot according to the expected motion information, and compensate the motion of the reactor pool cleaning robot according to the predicted motion state, so that the actual motion information of the reactor pool cleaning robot is close to the expected motion information;

[0012] A feedback control module is used to perform feedback control on the reactor pool cleaning robot according to the actual motion information and the expected motion information, and adjust the actual motion information according to the result of feedback control so that the adjusted actual motion information of the reactor pool cleaning robot is consistent with the expected motion information; the feedback control is used to control the degree of deviation between the actual motion information and the expected motion information.

[0013] 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 reactor pool cleaning robot described in the first aspect when executing the computer program.

[0014] 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 for the reactor pool cleaning robot described in the first aspect are implemented.

[0015] 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 for a reactor pool cleaning robot as described in any one of the first aspects above.

[0016] Compared with the prior art, the embodiments of the present invention have the following beneficial effects:

[0017] In the embodiment of the present application, the motion control of the reactor pool cleaning robot of a nuclear power plant is performed by combining feedforward control and feedback control. Specifically, during feedforward control, the feedforward control predicts the motion state of the reactor pool cleaning robot according to the expected motion information in the motion instruction, and compensates the motion of the reactor pool cleaning robot according to the predicted motion state to obtain the actual motion information. Since the feedforward control predicts the future motion changes of the reactor pool cleaning robot in advance based on the expected motion information, and compensates the actual motion of the reactor pool cleaning robot according to the future motion changes, it can avoid the actual motion information from deviating too much from the expected motion information, thereby significantly improving the response speed and control accuracy of the robot. At the same time, the reactor pool cleaning robot is feedback controlled according to the actual motion information and the expected motion information, and the actual motion information is adjusted according to the result of the feedback control, so that the adjusted actual motion information of the reactor pool cleaning robot is consistent with the expected motion information. Since the feedback control can control the degree of deviation between the actual motion information and the expected motion information, the actual motion information can be further made close to the expected motion information, thereby improving the accuracy of the motion control of the reactor pool cleaning robot of the nuclear power plant. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] 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 will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0019] Figure 1 It is a flow chart of a motion control method of a reactor pool cleaning robot provided in one embodiment of the present application;

[0020] Figure 2 It is a decomposed schematic diagram of the position and speed of a reactor pool cleaning robot provided in one embodiment of the present application;

[0021] Figure 3 This is a schematic diagram of the structure of a driving wheel of a reactor pool cleaning robot provided in one embodiment of the present application;

[0022] Figure 4 It is a schematic diagram of actual motion information adjustment of a reactor pool cleaning robot provided in one embodiment of the present application;

[0023] Figure 5 It is a structural schematic diagram of a motion control device of a reactor pool cleaning robot provided in an embodiment of the present application;

[0024] Figure 6It is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0025] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application may also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present application.

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

[0027] It should also be understood that the term “and / or” used in the specification and appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0028] As used in the specification and appended claims of this application, the term "if" can be interpreted as "when" or "uponce" or "in response to determining" or "in response to detecting", depending on the context. Similarly, the phrase "if it is determined" or "if [described condition or event] is detected" can be interpreted as meaning "uponce it is determined" or "in response to determining" or "uponce [described condition or event] is detected" or "in response to detecting [described condition or event]", depending on the context.

[0029] In addition, in the description of the present application specification and the appended claims, the terms "first", "second", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.

[0030] 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 statements "in one embodiment", "in some embodiments", "in some other embodiments", "in some other embodiments", etc. that appear 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. The terms "including", "comprising", "having" and their variations all mean "including but not limited to", unless otherwise specifically emphasized in other ways.

[0031] During the overhaul of a nuclear power plant, it is necessary to clean the nuclear waste in the nuclear power plant to ensure the safe operation of the nuclear power plant. For example, the reactor pool is cleaned and decontaminated to ensure the cleanliness and long-term use of the reactor pool, and to avoid the accumulation of sediments that affect the normal operation of other equipment.

[0032] At present, the decontamination work of the reactor pool bottom can be achieved by the reactor pool cleaning robot, but it is different from the working environment of the traditional industrial reactor pool cleaning robot or the commercial reactor pool cleaning robot. Because the reactor pool bottom has a complex pipeline structure and terrain features, and many precise detection instruments are deployed at the same time, once the reactor pool cleaning robot collides with the surrounding environment (for example, obstacles such as pipelines and instruments) during the cleaning operation, it may cause a serious nuclear safety accident. Therefore, the motion control of the reactor pool cleaning robot has more stringent precision requirements, and the motion control process of the traditional industrial or commercial cleaning robot is not accurate enough to meet this requirement.

[0033] In order to improve the accuracy of motion control of a reactor pool cleaning robot in a nuclear power plant, the present application provides a motion control method for a reactor pool cleaning robot, in which a motion instruction is obtained, wherein the motion instruction includes expected motion information of the reactor pool cleaning robot during movement, the reactor pool cleaning robot is feedforward controlled according to the expected motion information to obtain actual motion information, the reactor pool cleaning robot is feedback controlled according to the actual motion information and the expected motion, the actual motion information is adjusted according to the result of the feedback control, and the deviation between the actual motion information and the expected motion information is reduced by combining feedforward control and feedback control, thereby improving the accuracy of motion control of the reactor pool cleaning robot in the nuclear power plant.

[0034] Figure 1 A schematic flow chart of a motion control method for a reactor pool cleaning robot provided in an embodiment of the present application is shown. The above method can be applied to a robot control system, as described in detail as follows:

[0035] S11. Acquire motion instructions, wherein the motion instructions include expected motion information of the reactor pool cleaning robot during its motion.

[0036] The above-mentioned expected motion information refers to the motion state or target that the reactor pool cleaning robot expects to achieve when performing the cleaning task, and the above-mentioned expected motion information may include one or more of the following motion parameters: position, speed, acceleration, angular velocity, posture, etc. The above-mentioned reactor pool cleaning robot may be a drive wheel robot or a tracked robot driven by drive wheels.

[0037] Specifically, when the reactor pool cleaning robot starts the cleaning task, the user can input a motion instruction including desired motion information (for example, the target speed of the reactor pool cleaning robot during the cleaning process) to the reactor pool cleaning robot through the human-computer interaction interface, thereby instructing the reactor pool cleaning robot to start the cleaning operation. In addition, the above motion instruction can also include the cleaning path, cleaning time, cleaning mode, cleaning intensity, etc. of the reactor pool cleaning robot, which are not limited here.

[0038] S12. Perform feedforward control on the reactor pool cleaning robot according to the expected motion information to obtain actual motion information; the feedforward control is used to predict the motion state of the reactor pool cleaning robot according to the expected motion information, and compensate the motion of the reactor pool cleaning robot according to the predicted motion state, so that the actual motion information of the reactor pool cleaning robot is close to the expected motion information.

[0039] Specifically, after obtaining the expected motion information, the feedforward control will predict the future motion state of the reactor pool cleaning robot based on the physical model of the system (e.g., kinematic model). In the prediction process, the feedforward control will consider various interferences that the reactor pool cleaning robot may encounter, and then determine the compensation amount based on these interferences, and integrate the compensation amount into the actual motion of the reactor pool cleaning robot by adjusting the motion parameters, thereby offsetting the interference and obtaining the actual motion information of the reactor pool cleaning robot. The above-mentioned interference may include at least one of the following: load change interference, friction change interference, motion change interference, etc.

[0040] For example, assuming that the expected motion information includes an expected speed, if it is predicted that an increase in the load of the reactor pool cleaning robot will cause a decrease in speed, the feedforward control will calculate a corresponding compensation amount to increase the actual speed of the robot so that the actual speed is close to the expected speed.

[0041] In the embodiment of the present application, the actual movement of the reactor pool cleaning robot can be predicted and compensated through feedforward control, so that the actual movement information of the reactor pool cleaning robot is close to the expected movement information, thereby reducing the deviation between the actual movement information and the expected movement information.

[0042] S13. Feedback control is performed on the reactor pool cleaning robot according to the actual motion information and the expected motion information, and the actual motion information is adjusted according to the result of feedback control so that the adjusted actual motion information of the reactor pool cleaning robot is consistent with the expected motion information; the feedback control is used to control the degree of deviation between the actual motion information and the expected motion information.

[0043] Specifically, during the movement of the reactor pool cleaning robot, the feedback control will continuously obtain real-time actual motion information and compare it with the expected motion information to obtain real-time comparison results (i.e., the results of feedback control). When the real-time comparison results exceed the preset requirements, the above-mentioned actual motion information is corrected and adjusted by means of feedback gain to make the adjusted actual motion information of the reactor pool cleaning robot consistent with the expected motion information, thereby further reducing the deviation between the actual motion information and the expected motion information and improving the accuracy of the motion control of the reactor pool cleaning robot.

[0044] Optionally, the feedback gain may be implemented by a feedback filter. For example, the feedback filter may be a proportional-integral-derivative control (PID) feedback filter.

[0045] In the embodiment of the present application, the motion control of the reactor pool cleaning robot of a nuclear power plant is performed by combining feedforward control and feedback control. Specifically, during feedforward control, the feedforward control predicts the motion state of the reactor pool cleaning robot according to the expected motion information in the motion instruction, and compensates the motion of the reactor pool cleaning robot according to the predicted motion state to obtain the actual motion information. Since the feedforward control predicts the future motion changes of the reactor pool cleaning robot in advance based on the expected motion information, and compensates the actual motion of the reactor pool cleaning robot according to the future motion changes, it can avoid the actual motion information from deviating too much from the expected motion information, thereby significantly improving the response speed and control accuracy of the robot. At the same time, the reactor pool cleaning robot is feedback controlled according to the actual motion information and the expected motion information, and the actual motion information is adjusted according to the result of the feedback control, so that the adjusted actual motion information of the reactor pool cleaning robot is consistent with the expected motion information. Since the feedback control can control the degree of deviation between the actual motion information and the expected motion information, the actual motion information can be further made close to the expected motion information, thereby improving the accuracy of the motion control of the reactor pool cleaning robot of the nuclear power plant.

[0046] In another optional embodiment of the present application, before obtaining the motion instruction, the method further includes:

[0047] Obtain environmental data of the area to be cleaned;

[0048] The reactor pool cleaning robot is subjected to path planning according to the environmental data to obtain a path planning result, wherein the path planning includes global path planning and / or local path planning.

[0049] The above-mentioned environmental data may include at least one of the following: laser data, video data, ultrasonic ranging data, etc.

[0050] Specifically, the environmental data can be collected by sensors installed in the area to be cleaned (e.g., reactor pool bottom) and / or on the reactor pool cleaning robot, and then an environmental map corresponding to the area to be cleaned can be constructed based on the environmental data, and the reactor pool cleaning robot can be path planned by the environmental map and a preset path planning algorithm to obtain a path planning result. The path planning result can include a motion path from a starting point to a target point.

[0051] Optionally, in order to improve the accuracy of environmental map construction, the above-mentioned sensor may include at least one of the following: laser radar (e.g., 16-line laser radar), camera (e.g., pan-tilt camera, panoramic camera), inertial measurement unit (IMU), wheel odometer, ultrasonic sensor, etc. The above-mentioned environmental map may include at least one of the following: grid map, point cloud map, feature map, etc. The above-mentioned preset path planning algorithm may include a global path planning algorithm and / or a local path planning algorithm, wherein the global path planning algorithm may be Dijkstra or A* algorithm, etc., and the local path planning algorithm may include a dynamic window algorithm (Dynamic Window Approach, DWA) or a time elastic band algorithm (Time Elastic Band, TEB), etc.

[0052] In the embodiment of the present application, an environmental map is constructed by using the environmental data of the area to be cleaned, and combined with a preset path planning algorithm, automatic planning of the motion path of the reactor pool cleaning robot can be achieved, thereby improving the intelligence and automation of the reactor pool cleaning robot.

[0053] Correspondingly, after determining the above path planning result, the above motion instruction is obtained, including:

[0054] The path planning result and the expected motion information of the reactor pool cleaning robot during its motion are obtained.

[0055] It should be understood that after path planning is performed on the reactor pool cleaning robot, the path planning result and the desired motion information input by the user can constitute the above-mentioned motion instruction, thereby controlling the motion of the reactor pool cleaning robot.

[0056] Correspondingly, the feedforward control of the reactor pool cleaning robot is performed according to the expected motion information to obtain actual motion information, including:

[0057] In the process that the reactor pool cleaning robot moves according to the path planning result, the reactor pool cleaning robot is feedforward controlled according to the expected motion information to obtain actual motion information.

[0058] Specifically, after obtaining the above-mentioned motion instructions, the robot control system will perform path navigation for the reactor pool cleaning robot according to the above-mentioned path planning results. During the process of the reactor pool cleaning robot moving according to the navigation, the feedforward control will predict and compensate for the actual movement of the reactor pool cleaning robot, thereby offsetting the interference of the system control and obtaining the actual movement information of the reactor pool cleaning robot.

[0059] In some embodiments, the above-mentioned expected motion information includes at least one of the following: expected position information, expected speed information, and expected acceleration information; wherein the above-mentioned expected position information may include expected position coordinates, etc.; the above-mentioned expected speed information may include expected maximum speed or minimum speed, etc.; the above-mentioned expected acceleration information may include expected maximum acceleration or minimum acceleration, etc.

[0060] The feedforward control of the reactor pool cleaning robot is performed according to the expected motion information to obtain actual motion information, including:

[0061] Predicting the motion state of the reactor pool cleaning robot according to a preset kinematic model and the expected motion information to obtain a motion state result;

[0062] Determine the simulated motion information of the reactor pool cleaning robot according to the motion state result, wherein the simulated motion information is a system input determined by a servo control system corresponding to the reactor pool cleaning robot according to the motion state result;

[0063] The simulated motion information is adjusted by a preset motion control algorithm to obtain the actual motion information; the preset motion control algorithm determines the actual motion information by a simulated deviation between the simulated motion information and the expected motion information.

[0064] It should be understood that when the reactor pool cleaning robot is driven by the driving wheels, its motion state is mainly the motion state of the driving wheels.

[0065] The preset kinematic model includes constraints and a driving wheel motion model based on the constraints. Figure 2As shown in FIG. 1 , it is a schematic diagram of the decomposition of the position and velocity of the reactor pool cleaning robot, where x1 is the front or forward direction of the reactor pool cleaning robot, y1 is the direction perpendicular to the front or forward direction of the reactor pool cleaning robot, θ is the direction angle of the reactor pool cleaning robot, C is the center of mass of the reactor pool cleaning robot, and the coordinates corresponding to the center of mass are (x, y). Therefore, the position and velocity of the reactor pool cleaning robot can be expressed as: The velocity decomposition of the center of mass can include V1, V2 and V3, where V1 and V2 are the components of the center of mass on x1 and y1 respectively, and V3 is the velocity of rotation around the center of mass. Figure 3 The figure shows the schematic diagram of the driving wheel of the reactor pool cleaning robot. Point B is the center of the driving wheel. Point B is in the follower coordinate system. The position of the drive wheel can be represented by the length CB = l and the angle α, the direction of the drive wheel plane can be represented by the constant angle β, and the rotation angle of the drive wheel around its horizontal axis can be recorded as If the radius of the driving wheel is set to r, the wheel state of the driving wheel can be represented by α, β, l and r, and the motion state of the driving wheel can be Since the sum of α and β is approximately 90°, the relative motion between the driving wheel and the ground satisfies the pure rolling condition. Therefore, the speed of the driving wheel is decomposed along the wheel plane and perpendicular to the wheel plane, and the following constraints of the driving wheel can be obtained:

[0066]

[0067]

[0068] According to the above constraints, the corresponding driving wheel motion model can be constructed. Assume that the rotation angles of the left and right driving motors of the robot are and The transmission ratio of the gear transmission is i, so the rotation angle of the left and right driving wheels is and but:

[0069]

[0070] The above constraints can be transformed into the following form:

[0071] Along the wheel plane: Right now:

[0072] Perpendicular to the wheel plane: V2 = V3 sinβ, that is:

[0073] in, They represent the first-order derivatives of the centroid coordinates.

[0074] The driving wheel motion model is:

[0075]

[0076] Converted into speed:

[0077]

[0078] Select is the state component, we can get:

[0079]

[0080] in, is the first derivative of the reactor pool cleaning robot's orientation angle, is the first-order derivative of the rotation angle of the left and right drive motors. By decomposing the above as well as The motion state result of the driving wheel can be accurately obtained by using the same state components. The above motion state result may include the speed and direction of the driving wheel.

[0081] Specifically, assuming that the above-mentioned expected motion information includes the expected motion speed, the motion state of the reactor pool cleaning robot when it moves at the above-mentioned expected motion speed is first predicted by the above-mentioned preset kinematic model to obtain the motion state result, that is, the speed, direction and other motion state results of each driving wheel motor are determined according to the above-mentioned driving wheel motion model. Then the above-mentioned motion state result is used as the initial motor analog quantity, and the feedforward gain compensation is performed through the feedforward controller to obtain the simulated motion information of the reactor pool cleaning robot. The above-mentioned simulated motion information is used as the system input quantity, and the encoder of the servo control system corresponding to the reactor pool cleaning robot will determine the actual motion information of the reactor pool cleaning robot according to the system input quantity. The above-mentioned actual motion information may include the actual motor speed, direction, etc. of the reactor pool cleaning robot. When the actual motion information is determined according to the simulated motion information, motion control can be performed according to the preset motion control algorithm, so that the actual motion information determined according to the simulated motion information will not deviate too much from the expected motion information. The above-mentioned preset motion control algorithm can be a proportional-integral-derivative control (Proportional-Integral-Derivative Control, PID) algorithm, etc.

[0082] In an embodiment of the present application, the motion state when moving according to the expected motion information can be predicted in advance through a preset kinematic model, and the simulated motion information of the driving motor can be determined by means of feedforward gain compensation, so that the actual motion information of the reactor pool cleaning robot is close to the expected motion information, thereby accurately determining the actual motion information of the reactor pool cleaning robot, thereby improving the accuracy and stability of the motion control of the reactor pool cleaning robot.

[0083] In some embodiments, in order to facilitate the adjustment of the motion state of the reactor pool cleaning robot, such as posture, speed, angle, etc. The reactor pool cleaning robot may include a plurality of independent driving wheels. When the reactor pool cleaning robot includes at least two independent driving wheels, the motion of the independent driving wheels can be predicted separately according to the preset kinematic model, so as to adapt to different path conditions in the path planning results. Optionally, the path planning results include straight path and / or circular path. The motion state of the reactor pool cleaning robot is predicted according to the preset kinematic model and the expected motion information to obtain the motion state result, including:

[0084] Predicting the motion state of the at least two independent driving wheels of the reactor pool cleaning robot when the reactor pool cleaning robot is on the straight path according to the preset kinematic model and the expected motion information, and obtaining a first motion state result;

[0085] or,

[0086] The motion state of the at least two independent driving wheels of the reactor pool cleaning robot when it is on the circular arc path is predicted according to the preset kinematic model and the expected motion information to obtain a second motion state result.

[0087] Specifically, assuming that the cleaning robot includes two independent driving wheels, in order to keep the reactor pool cleaning robot moving in a straight line, it is required to keep the direction angle constant during the movement, that is, Reflected in the above kinematic model, V1=V2, by substituting V1=V2 into the above kinematic model, the speed and direction corresponding to the two driving wheels can be obtained, that is, the result of the first motion state; in the case of an arc path, assuming that the turning radius of the cleaning robot is R, the instantaneous motion state of the cleaning robot can be determined by the above preset kinematic model as:

[0088]

[0089] Right now:

[0090]

[0091] By geometric relationship And the above constraints, the conditions for realizing circular motion are:

[0092]

[0093] Among them, V Cis the speed of the center of mass. According to the above-mentioned conditions of circular motion, the speed and direction of the two driving wheels corresponding to them can be determined, that is, the above-mentioned second motion state result.

[0094] It should also be noted that when the reactor pool cleaning robot is required to spin in place, R = 0 can be determined. It can be obtained that β = 0, that is, the center of mass of the reactor pool cleaning robot is at the center point of the rotation axis of the two driving wheels. The condition for the center of mass of the reactor pool cleaning robot to remain stationary is but:

[0095]

[0096] It can be seen that when V1=-V2, that is, the two driving wheels have the same speed but opposite directions, the cleaning robot moves with its center of mass stationary and spinning in place. By substituting V1=-V2 into the above preset kinematic model, the motion state corresponding to this situation can be obtained.

[0097] In the embodiment of the present application, the motion state of the cleaning robot in different paths can be obtained through the above-mentioned preset kinematic model and different motion speed relationships, thereby improving the accuracy of the motion control of the cleaning robot.

[0098] In some embodiments, the above-mentioned determining the simulated motion information of the reactor pool cleaning robot according to the above-mentioned motion state result includes:

[0099] Determine the motion information compensation value according to the above motion state result;

[0100] The reactor pool cleaning robot is feedforward compensated using a preset feedforward gain method and the motion information compensation value to obtain the simulated motion information; the preset feedforward gain method includes at least one of the following: velocity feedforward gain, acceleration feedforward gain and friction feedforward gain.

[0101] Specifically, after taking the above-mentioned motion state result as the initial motor analog quantity, the above-mentioned feedforward controller can determine the system interference (such as friction change, load change, etc.) according to the initial motor analog quantity, and then calculate the required compensation amount through a preset compensation calculation method, that is, the above-mentioned motion information compensation value, and then compensate the initial motor analog quantity by matching the above-mentioned motion information compensation value with the corresponding type of feedforward gain method to obtain the input quantity of the servo control system, that is, the above-mentioned simulated motion information.

[0102] Optionally, the preset compensation calculation method may include at least one of the following: linearization calculation, filtering calculation, prediction calculation, etc. The motion information compensation value may include at least one of the following: speed compensation value, acceleration compensation value, friction compensation value, etc.

[0103] For example, assuming that the required compensation amount is calculated as a speed compensation value △V through filtering calculation, the actual speed of the reactor pool cleaning robot can be adjusted by increasing △V accordingly based on the initial motor analog value through the speed feedforward gain.

[0104] In the embodiment of the present application, by adjusting the input of the servo motion system through feedforward control, it is possible to avoid a large deviation between the system input and the expected motion information, thereby improving the accuracy of the motion control of the reactor pool cleaning robot.

[0105] In some embodiments, the above-mentioned adjusting the above-mentioned simulated motion information by a preset motion control algorithm to obtain the above-mentioned actual motion information includes:

[0106] Calculating the difference between the simulated motion information and the expected motion information to obtain the simulated deviation;

[0107] The simulation deviation is adjusted by a preset adjustment method; the preset adjustment method includes at least one of the following: proportional adjustment, integral adjustment and differential adjustment;

[0108] When the adjusted simulation deviation meets the preset simulation requirement, the actual simulation information output by the servo control system corresponding to the reactor pool cleaning robot is determined as the actual motion information.

[0109] Specifically, the simulation deviation between the simulation motion information and the expected motion information is first calculated, and then the actual simulation information of the servo control system is adjusted by one or a combination of proportional regulation, integral regulation and differential regulation. The proportional regulation adjusts the size of the actual simulation quantity by the size of the current simulation deviation. When the simulation deviation is large, the actual simulation information is adjusted according to a larger adjustment ratio. When the simulation deviation is small, the actual simulation information is adjusted according to a smaller adjustment ratio. The integral regulation adjusts the size of the actual simulation quantity by the amount of the simulation deviation accumulated over time. The larger the amount of the simulation deviation accumulated over time, the larger the amplitude of the integral regulation. The differential regulation adjusts the size of the actual simulation quantity by the rate of change of the simulation deviation. The larger the rate of change of the simulation deviation, the larger the amplitude of the differential regulation. The actual simulation information is adjusted by one or a combination of the adjustment results of proportional regulation, integral regulation and differential regulation until the simulation deviation meets the preset simulation requirement (for example, less than or equal to the preset simulation deviation threshold), and the actual simulation information output by the servo control system at this time is determined as the actual motion information.

[0110] It should be noted that, in the case of combining multiple adjustment methods, the adjustment result of each adjustment can be set with the same or different coefficients to obtain an initial coefficient combination, and then the coefficient combination is gradually adjusted according to the system response until the optimal coefficient combination is found, so as to better suit different adjustment situations. For example, assuming that the coefficients corresponding to the three types of adjustment through proportional adjustment, integral adjustment and differential adjustment are proportional coefficient (Kp), integral coefficient (Ki) and differential coefficient (Kd), respectively, the actual simulation information of the servo control system can be better adjusted by adjusting the above three coefficients to avoid excessive deviation between the actual motion information and the expected motion information.

[0111] In an embodiment of the present application, after the simulated motion information is input into the servo control system, the actual simulated information is adjusted by one or more of proportional regulation, integral regulation and differential regulation, which can further avoid excessive deviation between the actual motion information and the expected motion information and improve the accuracy of the motion control of the reactor pool cleaning robot.

[0112] In some embodiments, due to factors such as the complex terrain environment of the nuclear power plant and the long-term operation of the reactor pool cleaning robot, the actual motion information of the reactor pool cleaning robot may deviate from the expected motion information. The above-mentioned feedback control of the reactor pool cleaning robot based on the above-mentioned actual motion information and the above-mentioned expected motion information, and adjusting the above-mentioned actual motion information according to the result of the feedback control, includes:

[0113] Calculating a difference between the actual motion information and the expected motion information to obtain a first feedback deviation;

[0114] When the above-mentioned first feedback deviation does not meet the preset feedback requirement, the output of the servo control system corresponding to the above-mentioned reactor pool cleaning robot is adjusted by the preset feedback gain method and the above-mentioned first feedback deviation to obtain new actual motion information, and the step of calculating the difference between the above-mentioned actual motion information and the above-mentioned expected motion information and subsequent steps are returned until the above-mentioned first feedback deviation meets the above-mentioned preset feedback requirement to obtain the adjusted above-mentioned actual motion information; the above-mentioned preset feedback gain method includes at least one of the following: proportional gain, integral gain and differential gain.

[0115] The preset feedback requirement is used to limit the size of the first feedback deviation, and the preset feedback requirement may include one of being less than or equal to a preset feedback threshold, falling within a preset feedback threshold range, etc. In addition, when the preset feedback requirement is less than or equal to the preset feedback threshold, in order to further accurately adjust the actual motion information, the preset feedback threshold may be less than or equal to the preset simulation deviation threshold.

[0116] Specifically, in order to prevent the actual motion information from deviating from the expected motion information, the actual motion information of the reactor pool cleaning robot can be continuously determined by the encoder of the servo control system, and then the first feedback deviation between the actual motion information and the expected motion information is calculated. When the first feedback deviation does not meet the preset feedback requirement (for example, it is greater than the preset feedback threshold or is not within the preset feedback threshold range), the output of the servo control system corresponding to the reactor pool cleaning robot is adjusted by a preset feedback gain method, and iterated multiple times until the first feedback deviation meets the preset feedback requirement to obtain new actual motion information. Optionally, the specific process of the above-mentioned proportional gain, integral gain and differential gain can refer to the adjustment process corresponding to the proportional adjustment, integral adjustment and differential adjustment in the above embodiment, which will not be repeated here.

[0117] In the embodiment of the present application, through the above-mentioned feedback control, the deviation between the actual motion information and the expected motion information can be continuously corrected, so that the adjusted actual motion information of the reactor pool cleaning robot is consistent with the expected motion information, further improving the accuracy of the motion control of the reactor pool cleaning robot.

[0118] In some embodiments, in a servo control system, directly comparing the actual motion information and the expected motion information through feedback control may occupy a large amount of computing resources, resulting in system instability. At the same time, since the expected motion information is a static target value, it may not reflect the dynamic changes of the system. Therefore, the above-mentioned feedback control of the reactor pool cleaning robot based on the above-mentioned actual motion information and the above-mentioned expected motion information, and adjusting the above-mentioned actual motion information according to the result of the feedback control, includes:

[0119] Calculating the difference between the actual motion information and the simulated motion information to obtain a second feedback deviation;

[0120] When the second feedback deviation does not meet the preset feedback requirement, the output of the servo control system corresponding to the reactor pool cleaning robot is adjusted by the preset feedback gain method and the second feedback deviation to obtain new actual motion information, and the step of calculating the difference between the actual motion information and the simulated motion information and subsequent steps are returned until the second feedback deviation meets the preset feedback requirement to obtain the adjusted actual motion information; the preset feedback gain method includes at least one of the following: proportional gain, integral gain and differential gain.

[0121] Specifically, the simulated motion information is the input of the servo control system, and the actual motion information is actually the output of the servo control system. The difference between the actual motion information and the simulated motion information is the difference between the system input and output, which can better reflect the system changes. Therefore, during feedback control, by introducing the simulated motion information, the calculation process can be simplified, the calculation complexity can be reduced, and the real-time performance and stability of the system can be improved. In addition, the comparison between the actual motion information and the simulated motion information can also trigger the control action faster and improve the response speed of the entire system. It should be noted that adjusting the actual motion information by the difference between the above-mentioned actual motion information and the above-mentioned simulated motion information is similar to the above embodiment, and will not be repeated here.

[0122] In order to better illustrate the adjustment process of actual motion information, Figure 4 For explanation, refer to Figure 4 First, the initial motor analog quantity x1 is determined according to the expected motion information, and then the feedforward control is performed through the feedforward controller to obtain the simulated motion information (i.e. Figure 4 The above feedforward controller includes a speed gain regulator, an acceleration gain regulator, a friction gain regulator, etc., wherein the speed gain regulator is used to perform speed feedforward gain, the acceleration gain regulator is used to perform acceleration feedforward gain, and the friction gain regulator is used to perform friction feedforward gain; the simulated motion information obtained by the feedforward control (i.e. Figure 4 The motor analog quantity x2) is used as the input of the servo control system, and the motion is controlled by the PID regulator, and then the actual motion information (i.e. Figure 4 The actual analog value of the encoder in the simulation is x3); finally, the feedback control continuously adjusts the actual motion information based on the difference between the actual motion information and the simulated motion information, thereby improving the accuracy and stability of the motion control of the reactor pool cleaning robot.

[0123] In another optional embodiment of the present application, the resonance effect of the servo control system can be eliminated by combining a notch filter to further improve the accuracy of the motion control of the reactor pool cleaning robot. The above-mentioned notch filter can be applied to feedforward control and / or feedback control, which is not limited here. For example, in feedforward control, if an interference signal of a certain frequency is predicted, it can be pre-suppressed by a notch filter; in feedback control, if a noise signal of a certain frequency is detected, it can also be eliminated by a notch filter.

[0124] 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.

[0125] Corresponding to the motion control method of the reactor pool cleaning robot described in the above embodiment, Figure 5 A structural schematic diagram of a motion control device of a reactor pool cleaning 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.

[0126] Reference Figure 5 The device may be a motion control device 51 of a reactor pool cleaning robot. The motion control device 51 of the reactor pool cleaning robot may include a motion instruction acquisition module 511, a feedforward control module 512 and a feedback control module 513.

[0127] Reference Figure 5 , the motion control device of the reactor pool cleaning robot comprises:

[0128] The motion instruction acquisition module 511 is used to acquire motion instructions, wherein the motion instructions include expected motion information during the motion of the reactor pool cleaning robot;

[0129] The feedforward control module 512 is used to perform feedforward control on the reactor pool cleaning robot according to the expected motion information to obtain actual motion information; the feedforward control is used to predict the motion state of the reactor pool cleaning robot according to the expected motion information, and compensate the motion of the reactor pool cleaning robot according to the predicted motion state, so that the actual motion information of the reactor pool cleaning robot is close to the expected motion information;

[0130] The feedback control module 513 is used to perform feedback control on the reactor pool cleaning robot according to the actual motion information and the expected motion information, and adjust the actual motion information according to the result of feedback control so that the adjusted actual motion information of the reactor pool cleaning robot is consistent with the expected motion information; the feedback control is used to control the degree of deviation between the actual motion information and the expected motion information.

[0131] In another optional embodiment of the present application, the motion control device of the reactor pool cleaning robot further includes a path planning module, which is used for, before obtaining the motion instruction, including:

[0132] Obtain environmental data of the area to be cleaned;

[0133] The reactor pool cleaning robot is subjected to path planning according to the environmental data to obtain a path planning result, wherein the path planning includes global path planning and / or local path planning.

[0134] Correspondingly, after determining the above path planning result, the above motion instruction acquisition module 511, when acquiring the motion instruction, includes:

[0135] The path planning result and the expected motion information of the reactor pool cleaning robot during its motion are obtained.

[0136] Correspondingly, when the feedforward control module 512 performs feedforward control on the reactor pool cleaning robot according to the expected motion information to obtain actual motion information, the following steps are included:

[0137] In the process that the reactor pool cleaning robot moves according to the path planning result, the reactor pool cleaning robot is feedforward controlled according to the expected motion information to obtain actual motion information.

[0138] In some embodiments, the above-mentioned expected motion information includes at least one of the following: expected position information, expected speed information, and expected acceleration information; wherein the above-mentioned expected position information may include expected position coordinates, etc.; the above-mentioned expected speed information may include expected maximum speed or minimum speed, etc.; the above-mentioned expected acceleration information may include expected maximum acceleration or minimum acceleration, etc.

[0139] The feedforward control module 512 performs feedforward control on the reactor pool cleaning robot according to the expected motion information to obtain actual motion information, including:

[0140] Predicting the motion state of the reactor pool cleaning robot according to a preset kinematic model and the expected motion information to obtain a motion state result;

[0141] Determine the simulated motion information of the reactor pool cleaning robot according to the motion state result, wherein the simulated motion information is a system input determined by a servo control system corresponding to the reactor pool cleaning robot according to the motion state result;

[0142] The simulated motion information is adjusted by a preset motion control algorithm to obtain the actual motion information; the preset motion control algorithm determines the actual motion information by a simulated deviation between the simulated motion information and the expected motion information.

[0143] In some embodiments, in order to facilitate the adjustment of the motion state of the reactor pool cleaning robot, such as posture, speed, angle, etc. The reactor pool cleaning robot may include a plurality of independent driving wheels. When the reactor pool cleaning robot includes at least two independent driving wheels, the motion of the independent driving wheels can be predicted separately according to the preset kinematic model, so as to adapt to different path conditions in the path planning results. Optionally, the path planning results include straight path and / or circular path. When the feedforward control module 512 predicts the motion state of the reactor pool cleaning robot according to the preset kinematic model and the expected motion information and obtains the motion state result, it includes:

[0144] Predicting the motion state of the at least two independent driving wheels of the reactor pool cleaning robot when the reactor pool cleaning robot is on the straight path according to the preset kinematic model and the expected motion information, and obtaining a first motion state result;

[0145] or,

[0146] The motion state of the at least two independent driving wheels of the reactor pool cleaning robot when it is on the circular arc path is predicted according to the preset kinematic model and the expected motion information to obtain a second motion state result.

[0147] In some embodiments, when the feedforward control module 512 determines the simulated motion information of the reactor pool cleaning robot according to the motion state result, it includes:

[0148] Determine the motion information compensation value according to the above motion state result;

[0149] The reactor pool cleaning robot is feedforward compensated using a preset feedforward gain method and the motion information compensation value to obtain the simulated motion information; the preset feedforward gain method includes at least one of the following: velocity feedforward gain, acceleration feedforward gain and friction feedforward gain.

[0150] In some embodiments, the feedforward control module 512 adjusts the simulated motion information through a preset motion control algorithm to obtain the actual motion information, including:

[0151] Calculating the difference between the simulated motion information and the expected motion information to obtain the simulated deviation;

[0152] The simulation deviation is adjusted by a preset adjustment method; the preset adjustment method includes at least one of the following: proportional adjustment, integral adjustment and differential adjustment;

[0153] When the adjusted simulation deviation meets the preset simulation requirement, the actual simulation information output by the servo control system corresponding to the reactor pool cleaning robot is determined as the actual motion information.

[0154] In some embodiments, due to factors such as the complex terrain environment of the nuclear power plant and the long-term operation of the reactor pool cleaning robot, the actual motion information of the reactor pool cleaning robot may deviate from the expected motion information. The feedback control module 513 performs feedback control on the reactor pool cleaning robot according to the actual motion information and the expected motion information, and adjusts the actual motion information according to the result of the feedback control, including:

[0155] Calculating a difference between the actual motion information and the expected motion information to obtain a first feedback deviation;

[0156] When the above-mentioned first feedback deviation does not meet the preset feedback requirement, the output of the servo control system corresponding to the above-mentioned reactor pool cleaning robot is adjusted by the preset feedback gain method and the above-mentioned first feedback deviation to obtain new actual motion information, and the step of calculating the difference between the above-mentioned actual motion information and the above-mentioned expected motion information and subsequent steps are returned until the above-mentioned first feedback deviation meets the above-mentioned preset feedback requirement to obtain the adjusted above-mentioned actual motion information; the above-mentioned preset feedback gain method includes at least one of the following: proportional gain, integral gain and differential gain.

[0157] In some embodiments, in a servo control system, directly comparing the actual motion information and the expected motion information through feedback control may occupy a large amount of computing resources, resulting in system instability. At the same time, since the expected motion information is a static target value, it may not reflect the dynamic changes of the system. Therefore, when the feedback control module 513 performs feedback control on the reactor pool cleaning robot according to the actual motion information and the expected motion information, and adjusts the actual motion information according to the result of the feedback control, it includes:

[0158] Calculating the difference between the actual motion information and the simulated motion information to obtain a second feedback deviation;

[0159] When the second feedback deviation does not meet the preset feedback requirement, the output of the servo control system corresponding to the reactor pool cleaning robot is adjusted by the preset feedback gain method and the second feedback deviation to obtain new actual motion information, and the step of calculating the difference between the actual motion information and the simulated motion information and subsequent steps are returned until the second feedback deviation meets the preset feedback requirement to obtain the adjusted actual motion information; the preset feedback gain method includes at least one of the following: proportional gain, integral gain and differential gain.

[0160] It should be noted that the information interaction, execution process, etc. between the devices / units are based on the same concept as the method embodiments of the present application. Their specific functions and technical effects can be found in the method embodiment section and will not be repeated here.

[0161] Figure 6 This is a schematic diagram of the structure of an electronic device provided by an embodiment of the present application. Figure 6 As shown, the electronic device 6 of this embodiment includes: at least one processor 60 ( Figure 6 Only one is shown in the figure), a memory 61, and a computer program 62 stored in the memory 61 and executable on the at least one processor 60. When the processor 60 executes the computer program 62, the steps in any of the method embodiments are implemented.

[0162] The electronic device 6 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 60 and a memory 61. Those skilled in the art will appreciate that Figure 6 It is only an example of the electronic device 6 and does not constitute a limitation of the electronic device 6. It may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, the electronic device may also include an input sending device, a network access device, a bus, etc.

[0163] The processor 60 may be a central processing unit (CPU), 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.

[0164] In some embodiments, the memory 61 may be an internal storage unit of the electronic device 6, such as a hard disk or memory of the electronic device 6. The memory 61 may also be an external storage device of the electronic device 6, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the electronic device 6. Further, the memory 61 may also include both an internal storage unit and an external storage device of the electronic device 6. The memory 61 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. The memory 61 may also be used to temporarily store data that has been sent or is to be sent.

[0165] The technicians in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the functional units and modules is used as an example. In practical applications, the 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 into a 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 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 system can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.

[0166] 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 method embodiments when executing the computer program.

[0167] 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 various method embodiments can be implemented.

[0168] 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 various method embodiments when executing the computer program product.

[0169] 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 process in the 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 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.

[0170] In the 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.

[0171] 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.

[0172] 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.

[0173] 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.

[0174] 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 reactor pool cleaning robot, characterized in that: include: Acquiring a motion instruction, wherein the motion instruction includes expected motion information of the reactor pool cleaning robot during the motion process; The reactor pool cleaning robot is feedforward controlled according to the expected motion information to obtain actual motion information; the feedforward control is used to predict the motion state of the reactor pool cleaning robot according to the expected motion information, and compensate the motion of the reactor pool cleaning robot according to the predicted motion state, so that the actual motion information of the reactor pool cleaning robot is close to the expected motion information; Feedback control is performed on the reactor pool cleaning robot according to the actual motion information and the expected motion information, and the actual motion information is adjusted according to the result of feedback control so that the adjusted actual motion information of the reactor pool cleaning robot is consistent with the expected motion information; the feedback control is used to control the degree of deviation between the actual motion information and the expected motion information.

2. The motion control method of the reactor pool cleaning robot according to claim 1, characterized in that: Before obtaining the motion instruction, the method further includes: Obtain environmental data of the area to be cleaned; Performing path planning for the reactor pool cleaning robot according to the environmental data to obtain a path planning result, wherein the path planning includes global path planning and / or local path planning; The obtaining of the motion instruction comprises: Acquiring the path planning result and the expected motion information of the reactor pool cleaning robot during its motion; The feedforward control of the reactor pool cleaning robot according to the expected motion information to obtain actual motion information includes: In the process that the reactor pool cleaning robot moves according to the path planning result, the reactor pool cleaning robot is feedforward controlled according to the expected motion information to obtain actual motion information.

3. The motion control method of the reactor pool cleaning robot according to claim 2, characterized in that: The expected motion information includes at least one of the following: expected position information, expected speed information, and expected acceleration information; the feedforward control of the reactor pool cleaning robot is performed according to the expected motion information to obtain actual motion information, including: Predicting the motion state of the reactor pool cleaning robot according to a preset kinematic model and the expected motion information to obtain a motion state result; Determine simulated motion information of the reactor pool cleaning robot according to the motion state result, wherein the simulated motion information is a system input quantity determined by a servo control system corresponding to the reactor pool cleaning robot according to the motion state result; The simulated motion information is adjusted by a preset motion control algorithm to obtain the actual motion information; the preset motion control algorithm determines the actual motion information by a simulated deviation between the simulated motion information and the expected motion information.

4. The motion control method of the reactor pool cleaning robot according to claim 3, characterized in that: In the case where the reactor pool cleaning robot includes at least two independent driving wheels, the path planning result includes a straight path and / or an arc path, and the motion state of the reactor pool cleaning robot is predicted according to a preset kinematic model and the expected motion information to obtain a motion state result, including: Predicting the motion state of the at least two independent driving wheels of the reactor pool cleaning robot when it is on the straight path according to the preset kinematic model and the expected motion information, to obtain a first motion state result; or, The motion state of the at least two independent driving wheels of the reactor pool cleaning robot when it is on the circular arc path is predicted according to the preset kinematic model and the expected motion information to obtain a second motion state result.

5. The motion control method of the reactor pool cleaning robot according to claim 3, characterized in that: The step of determining the simulated motion information of the reactor pool cleaning robot according to the motion state result includes: Determine a motion information compensation value according to the motion state result; The reactor pool cleaning robot is feedforward compensated by using a preset feedforward gain method and the motion information compensation value to obtain the simulated motion information; the preset feedforward gain method includes at least one of the following: velocity feedforward gain, acceleration feedforward gain and friction feedforward gain.

6. The motion control method of the reactor pool cleaning robot according to claim 3, characterized in that: The step of adjusting the simulated motion information by using a preset motion control algorithm to obtain the actual motion information includes: Calculating a difference between the simulated motion information and the expected motion information to obtain the simulated deviation; The simulation deviation is adjusted by a preset adjustment method; the preset adjustment method includes at least one of the following: proportional adjustment, integral adjustment and differential adjustment; When the adjusted simulation deviation meets the preset simulation requirement, the actual simulation information output by the servo control system corresponding to the reactor pool cleaning robot is determined as the actual motion information.

7. The motion control method of a reactor pool cleaning robot according to any one of claims 1 to 6, characterized in that: The performing feedback control on the reactor pool cleaning robot according to the actual motion information and the expected motion information, and adjusting the actual motion information according to the result of the feedback control, comprises: Calculating a difference between the actual motion information and the expected motion information to obtain a first feedback deviation; When the first feedback deviation does not meet the preset feedback requirement, the output of the servo control system corresponding to the reactor pool cleaning robot is adjusted by a preset feedback gain method and the first feedback deviation to obtain new actual motion information, and the step of calculating the difference between the actual motion information and the expected motion information and subsequent steps are returned until the first feedback deviation meets the preset feedback requirement to obtain the adjusted actual motion information; the preset feedback gain method includes at least one of the following: proportional gain, integral gain and differential gain.

8. The motion control method of a reactor pool cleaning robot according to any one of claims 3 to 6, characterized in that: The performing feedback control on the reactor pool cleaning robot according to the actual motion information and the expected motion information, and adjusting the actual motion information according to the result of the feedback control, comprises: Calculating a difference between the actual motion information and the simulated motion information to obtain a second feedback deviation; When the second feedback deviation does not meet the preset feedback requirement, the output of the servo control system corresponding to the reactor pool cleaning robot is adjusted by the preset feedback gain method and the second feedback deviation to obtain new actual motion information, and the step of calculating the difference between the actual motion information and the simulated motion information and subsequent steps are returned until the second feedback deviation meets the preset feedback requirement to obtain the adjusted actual motion information; the preset feedback gain method includes at least one of the following: proportional gain, integral gain and differential gain.

9. A motion control device for a reactor pool cleaning robot, characterized in that: include: A motion instruction acquisition module, used for acquiring motion instructions, wherein the motion instructions include expected motion information of the reactor pool cleaning robot during motion; A feedforward control module is used to perform feedforward control on the reactor pool cleaning robot according to the expected motion information to obtain actual motion information; the feedforward control is used to predict the motion state of the reactor pool cleaning robot according to the expected motion information, and compensate the motion of the reactor pool cleaning robot according to the predicted motion state, so that the actual motion information of the reactor pool cleaning robot is close to the expected motion information; A feedback control module is used to perform feedback control on the reactor pool cleaning robot according to the actual motion information and the expected motion information, and adjust the actual motion information according to the result of feedback control so that the adjusted actual motion information of the reactor pool cleaning robot is consistent with the expected motion information; the feedback control is used to control the degree of deviation between the actual motion information and the expected motion information.

10. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the method according to any one of claims 1 to 8 is implemented.

11. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 8 is implemented.

12. A computer program product, characterized in that The invention comprises a computer program, which implements the method according to any one of claims 1 to 8 when being executed.

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