Method and device for motion control of reactor pool cleaning robot and electronic equipment

Abstract

The application is suitable for the field of robot technology, and provides a motion control method and device of a reactor pool cleaning robot and electronic equipment. The method comprises: performing feedforward control on the reactor pool cleaning robot according to expected motion information to obtain actual motion information; 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 the result of the feedback control; and the feedback control is used for controlling the deviation degree of the actual motion information and the expected motion information. The application can improve the accuracy of motion control of the reactor pool cleaning robot of a nuclear power plant.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of robots, and particularly relates to a motion control method and device of a reactor pool cleaning robot, an electronic device and a computer readable storage medium. BACKGROUND

[0002] With the wide development of nuclear power technology, the number of nuclear power plants and the area occupied by the nuclear power plants are increasing. In the operation process of the nuclear power plant, various nuclear waste will inevitably be generated, such as suspended solids and radioactive substances deposited at the bottom of the reactor pool due to the circulation of cooling water, which usually has radioactivity and will affect the normal operation of the nuclear power plant and the staff of the nuclear power plant.

[0003] At present, in order to improve the cleaning efficiency of nuclear waste and the safety of nuclear waste cleaning, a reactor pool cleaning robot can be used to replace manual cleaning. However, since there are a large number of precision instruments in the nuclear power plant, the motion control of the reactor pool cleaning robot has a more stringent accuracy requirement, and the motion control process of the traditional reactor pool cleaning robot is not accurate enough to meet this requirement. SUMMARY

[0004] The motion control method, device and electronic device of the reactor pool cleaning robot provided in the embodiments of the present application can improve the accuracy of the motion control of the reactor pool cleaning robot.

[0005] In a first aspect, the embodiments of the present application provide a motion control method of a reactor pool cleaning robot, comprising:

[0006] obtaining a motion instruction, wherein the motion instruction comprises expected motion information in a motion process of the reactor pool cleaning robot;

[0007] performing 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;

[0008] 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, 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 deviation degree of 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 of a reactor pool cleaning robot, comprising:

[0010] a motion instruction acquisition module configured to acquire a motion instruction, wherein the motion instruction comprises expected motion information in a motion process of the reactor pool cleaning robot;

[0011] a feedforward control module configured 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 configured to predict a 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 configured 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 a result of the feedback control, so that the actual motion information of the reactor pool cleaning robot after adjustment is consistent with the expected motion information; the feedback control is configured to control a deviation degree of 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 steps of the motion control method of the reactor pool cleaning robot according to 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 readable storage medium stores a computer program, and the computer program implements steps of the motion control method of the reactor pool cleaning robot according to the first aspect when executed by a processor.

[0015] In a fifth aspect, an embodiment of the present application provides a computer program product, when the computer program product is executed on an electronic device, the electronic device executes the motion control method of the reactor pool cleaning robot according to any one of the first aspect.

[0016] Compared with the prior art, the embodiment of the present application has the following beneficial effects:

[0017] In the embodiment of the present application, the motion control of the reactor pool cleaning robot of the nuclear power plant is performed by combining feedforward control and feedback control. Specifically, in the 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 actual motion information. Since the feedforward control predicts the future motion change 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 change, the actual motion information can be prevented from deviating too much from the expected motion information, thereby significantly improving the response speed and control accuracy of the robot. Meanwhile, the feedback control of the reactor pool cleaning robot is performed 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 deviation degree of the actual motion information and the expected motion information, the actual motion information can be further approximated 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 DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or prior art description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0019] Figure 1 is a flowchart of the motion control method of the reactor pool cleaning robot provided by an embodiment of the present application;

[0020] Figure 2 is a decomposition diagram of the pose and speed of the reactor pool cleaning robot provided by an embodiment of the present application;

[0021] Figure 3 is a structural diagram of the driving wheel of the reactor pool cleaning robot provided by an embodiment of the present application;

[0022] Figure 4 is a diagram of the adjustment of the actual motion information of the reactor pool cleaning robot provided by an embodiment of the present application;

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

[0024] Figure 6FIG. 1 is a structural schematic diagram of an electronic device provided by an embodiment of the present application. DETAILED DESCRIPTION

[0025] In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular architectures, techniques, etc., in order to provide a thorough understanding of the embodiments of the present application. However, it will be apparent to those skilled in the art that the present application can be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known methods, devices, circuits, and

[0026] It will be understood that the terms "comprises", "comprising", "includes", "including", "has", "having", "contains", "containing", or variations thereof, when used in this specification and in the following claims, specify the presence of the stated features, integers, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof.

[0027] It will be understood that the term "and / or", when used in this specification and in the following claims, means any one of the associated listed items or a combination of any of the associated listed items.

[0028] As used in this specification and in the claims, the terms "if" and "when" can be interpreted to mean "upon" or "in response to a determination" or "in response to a detection" depending on the context. Similarly, the phrase "if it is determined" or "if [a described condition or event] is detected" can be interpreted to mean "upon a determination" or "in response to a determination" or "upon detecting [a described condition or event]" or "in response to detecting [a described condition or event]" depending on the context.

[0029] In addition, the terms "first", "second", etc. are used herein only to distinguish one element from another, and do not imply a relative importance or a specific order.

[0030] Reference throughout this specification to "one embodiment" or "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the present application. Thus, the appearances of the phrases "in one embodiment" or "in some embodiments" or "in other embodiments" or "in still other embodiments" in various places throughout this specification are not necessarily all referring to the same embodiment, unless otherwise specified. The terms "comprise," "comprising," "including," "containing," "have," "having," and "include" and their variations, mean "including but not limited to," unless otherwise specified.

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

[0032] Currently, the decontamination of the reactor pool bottom can be achieved by a reactor pool cleaning robot. However, unlike the working environment of a traditional industrial reactor pool cleaning robot or a commercial reactor pool cleaning robot, the reactor pool bottom has a complex pipe structure and terrain features, and many precise detection instruments are also deployed. Once the reactor pool cleaning robot collides with the surrounding environment (e.g., pipes, instruments, and other obstacles) during cleaning operations, it may cause a serious nuclear safety accident. Therefore, the motion control of the reactor pool cleaning robot has more stringent accuracy requirements. The motion control process of traditional industrial or commercial cleaning robots is not accurate enough to meet these requirements.

[0033] To improve the accuracy of the motion control of the reactor pool cleaning robot, the present application provides a motion control method for a reactor pool cleaning robot. In this method, a motion instruction is obtained, wherein the motion instruction includes expected motion information during the motion of the reactor pool cleaning robot. The reactor pool cleaning robot is subjected to feedforward control according to the expected motion information to obtain actual motion information. The reactor pool cleaning robot is subjected to feedback control according to the actual motion information and the expected motion. The actual motion information is adjusted according to the result of the feedback control. 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 the motion control of the reactor pool cleaning robot.

[0034] Figure 1 A flowchart of a motion control method for a reactor pool cleaning robot is shown. The method can be applied to a robot control system, as described in detail below.

[0035] S11, a motion instruction is obtained, wherein the motion instruction includes expected motion information during the motion of the reactor pool cleaning robot.

[0036] The expected motion information refers to the motion state or target that the reactor pool cleaning robot is expected to achieve when performing a cleaning task. The expected motion information can include one or more of the following motion parameters: position, speed, acceleration, angular velocity, pose, etc. The reactor pool cleaning robot can be a driven wheel robot or a tracked robot driven by a driven wheel.

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

[0038] S12, performing feedforward control on the reactor pool cleaning robot according to the desired 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 desired 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 approaches the desired motion information.

[0039] Specifically, after obtaining the desired motion information, the feedforward control predicts the future motion state of the reactor pool cleaning robot based on a physical model (e.g., a kinematic model) of the system. During the prediction, the feedforward control considers various disturbances that the reactor pool cleaning robot may encounter, and then determines a compensation amount according to the disturbances. The compensation amount is incorporated into the actual motion of the reactor pool cleaning robot by adjusting the motion parameters, so as to offset the disturbances and obtain the actual motion information of the reactor pool cleaning robot. The disturbances can include at least one of the following: load change disturbance, friction change disturbance, motion change disturbance, etc.

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

[0041] In the embodiments of the present application, the actual motion of the reactor pool cleaning robot can be predicted and compensated by the feedforward control, so that the actual motion information of the reactor pool cleaning robot approaches the desired motion information, thereby reducing the deviation between the actual motion information and the desired motion information.

[0042] S13, performing feedback control on the reactor pool cleaning robot according to the actual motion information and the desired motion information, adjusting the actual motion information 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 desired motion information; the feedback control is used to control the deviation between the actual motion information and the desired motion information.

[0043] Specifically, during the movement of the reactor pool cleaning robot, the feedback control continuously acquires real-time actual movement information, compares the actual movement information with the expected movement information, and obtains a real-time comparison result (i.e., a result of the feedback control). When the real-time comparison result exceeds a preset requirement, the actual movement information is corrected and adjusted through a feedback gain, so that the adjusted actual movement information of the reactor pool cleaning robot is consistent with the expected movement information, thereby further reducing the deviation between the actual movement information and the expected movement information and improving the accuracy of the movement control of the reactor pool cleaning robot.

[0044] Optionally, the feedback gain can be implemented through a feedback filter, for example, the feedback filter can be a proportional-integral-derivative (PID) feedback filter.

[0045] In the embodiments of the present application, the movement of the reactor pool cleaning robot of the nuclear power plant is controlled through a combination of feedforward control and feedback control. Specifically, in the feedforward control, the feedforward control predicts the movement state of the reactor pool cleaning robot according to the expected movement information in the movement instruction, and compensates the movement of the reactor pool cleaning robot according to the predicted movement state to obtain actual movement information. Since the feedforward control predicts the future movement change of the reactor pool cleaning robot based on the expected movement information and compensates the actual movement of the reactor pool cleaning robot according to the future movement change, the actual movement information can be prevented from deviating too much from the expected movement information, thereby significantly improving the response speed and control accuracy of the robot. Meanwhile, the feedback control is performed on the reactor pool cleaning robot according to the actual movement information and the expected movement information, and the actual movement information is adjusted according to the result of the feedback control, so that the adjusted actual movement information of the reactor pool cleaning robot is consistent with the expected movement information. Since the feedback control can control the deviation between the actual movement information and the expected movement information, the actual movement information can be further approximated to the expected movement information, thereby improving the accuracy of the movement control of the reactor pool cleaning robot of the nuclear power plant.

[0046] In another optional embodiment of the present application, before the movement instruction is acquired, the method further includes:

[0047] acquiring environmental data of the region to be cleaned;

[0048] planning a path 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.

[0049] The environmental data can include at least one of laser data, video data, ultrasonic ranging data, etc.

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

[0051] Optionally, to improve the accuracy of the environmental map construction, the sensors can include at least one of a laser radar (e.g., 16-line laser radar), a camera (e.g., a gimbal camera, a panoramic camera), an inertial measurement unit (IMU), a wheel odometer, an ultrasonic sensor, etc. The environmental map can include at least one of a grid map, a point cloud map, a feature map, etc. The preset path planning algorithm can include a global path planning algorithm and / or a local path planning algorithm. The global path planning algorithm can be Dijkstra or A* algorithm, etc. The local path planning algorithm can include a dynamic window algorithm (DWA) or a time elastic band algorithm (TEB), etc.

[0052] In the embodiments of the present application, the environmental map is constructed by the environmental data of the area to be cleaned, and the motion path of the reactor pool cleaning robot is automatically planned in combination with the preset path planning algorithm, thereby improving the intelligence and automation level of the reactor pool cleaning robot.

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

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

[0055] It should be understood that, after the path planning of the reactor pool cleaning robot, the path planning result and the expected motion information input by the user can constitute the motion instruction, thereby controlling the motion of the reactor pool cleaning robot.

[0056] Correspondingly, the reactor pool cleaning robot is feedforward controlled according to the expected motion information, and actual motion information is obtained, including:

[0057] In the process of movement of the reactor pool cleaning robot according to the path planning result, the reactor pool cleaning robot is fed forward controlled according to the expected motion information to obtain actual motion information.

[0058] Specifically, after the robot control system obtains the motion instruction, the reactor pool cleaning robot is path navigated according to the path planning result, and in the process of movement of the reactor pool cleaning robot according to the navigation, the actual motion of the reactor pool cleaning robot is predicted and compensated by the feed forward control, so as to offset the interference of the system control and obtain the actual motion information of the reactor pool cleaning robot.

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

[0060] The feed forward control of the reactor pool cleaning robot according to the expected motion information to obtain actual motion information includes:

[0061] According to the preset kinematic model and the expected motion information, the motion state of the reactor pool cleaning robot is predicted to obtain a motion state result;

[0062] According to the motion state result, the simulated motion information of the reactor pool cleaning robot is determined, wherein the simulated motion information is a system input quantity of a servo control system corresponding to the reactor pool cleaning robot and determined by 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 wheel, the motion state is mainly the motion state of the driving wheel.

[0065] The preset kinematic model includes a constraint condition and a driving wheel motion model based on the constraint condition. For details, refer to Figure 2As shown in the figure, it is a decomposition diagram of the pose and velocity of the reactor pool cleaning robot, wherein 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), so the pose of the reactor pool cleaning robot can be expressed as: The velocity decomposition of the center of mass can include V1, V2 and V3, wherein V1 and V2 are the components of the center of mass on x1 and y1 respectively, and V3 is the rotating speed around the center of mass. Referring to Figure 3 As shown in the figure, it is a structural diagram of the drive wheel of the reactor pool cleaning robot, point B is the center of the drive wheel, the position of point B in the servo coordinate system can be expressed by length CB = l and angle α, the drive wheel plane direction can be expressed by constant angle β, and the drive wheel rotating angle around its horizontal axis can be denoted as The drive wheel radius is set as r, so the wheel state of the drive wheel can be expressed by α, β, l and r, and the motion state of the drive wheel can be Since the sum of α and β is about 90°, the relative motion between the drive wheel and the ground satisfies the pure rolling condition, so the velocity of the drive wheel is decomposed into two directions along the wheel plane and perpendicular to the wheel plane, and the following constraint conditions of the drive wheel can be obtained:

[0066]

[0067]

[0068] According to the above constraint conditions, the corresponding drive wheel motion model can be constructed, assuming that the rotating angles of the left and right drive motors of the robot are and The gear transmission ratios are both i, so the rotating angles of the left and right drive wheels are and Then:

[0069]

[0070] The above constraint conditions can be changed into the following form:

[0071] Along the wheel plane: That is:

[0072] Perpendicular to the wheel plane: V2 = V3sinβ, that is:

[0073] Wherein respectively represent the first derivative of the center of mass coordinates.

[0074] The drive wheel motion model can be obtained as:

[0075]

[0076] The conversion into velocity is expressed as:

[0077]

[0078] Selecting The state component is obtained as:

[0079]

[0080] wherein, is the first derivative of the direction angle of the reactor pool cleaning robot, is the first derivative of the rotation angle of the left and right drive motors. The motion state result of the drive wheel is accurately obtained by decomposing the above-mentioned and state components. The motion state result of the drive wheel can include the speed, direction, etc.

[0081] Specifically, assuming that the expected motion information includes the expected motion speed, the motion state of the reactor pool cleaning robot moving at the expected motion speed is first predicted by the preset kinematic model, and the motion state result is obtained, that is, the speed, direction, etc. motion state result of each drive wheel motor is determined according to the drive wheel motion model. Then the 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 analog motion information of the reactor pool cleaning robot. The analog motion information is used as the system input quantity, and the encoder of the corresponding servo control system of the reactor pool cleaning robot determines the actual motion information of the reactor pool cleaning robot according to the system input quantity. The actual motion information can include the actual motor speed, direction, etc. of the reactor pool cleaning robot. When the actual motion information is determined according to the analog motion information, the motion control can be performed according to the preset motion control algorithm, so that the actual motion information determined according to the analog motion information will not deviate too much from the expected motion information. The preset motion control algorithm can be a proportional-integral-derivative control (PID) algorithm, etc.

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

[0083] In some embodiments, in order to facilitate adjustment of the motion state of the reactor pool cleaning robot, such as pose, speed, angle, etc., the reactor pool cleaning robot can include multiple independent drive wheels. In the case where the reactor pool cleaning robot includes at least two independent drive wheels, the independent drive wheels can be respectively predicted according to the preset kinematic model, so as to adapt to different path conditions in the path planning result. Optionally, the path planning result includes a straight line path and / or a circular arc path, and the motion state of the reactor pool cleaning robot is predicted according to the preset kinematic model and the expected motion information, to obtain a motion state result, including:

[0084] According to the preset kinematic model and the expected motion information, the motion state of the at least two independent drive wheels of the reactor pool cleaning robot on the straight line path is predicted, to obtain a first motion state result;

[0085] Or,

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

[0087] Specifically, assuming that the cleaning robot includes two independent drive wheels, in the straight line path, 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 motion, that is, which is reflected in the kinematic model as V1 = V2. By bringing V1 = V2 into the kinematic model, the speed and direction corresponding to the two drive wheels, that is, the first motion state result, can be obtained. In the circular 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 preset kinematic model as:

[0088]

[0089] That is,

[0090]

[0091] From the geometric relationship and the constraint condition, the condition for realizing the circular arc motion can be obtained as:

[0092]

[0093] wherein, V CFor the velocity of the center of mass, the velocity, direction, and the like corresponding to the two driving wheels can be determined according to the condition of the circular arc motion, that is, the second motion state result.

[0094] It should be further noted that when the reactor pool cleaning robot needs to spin in place, R=0 can be determined, since 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 two driving wheel rotation axes, and the condition for the center of mass of the reactor pool cleaning robot to be stationary is Then:

[0095]

[0096] It can be obtained that when V1=-V2, that is, the two driving wheels have the same speed and opposite directions, the cleaning robot performs a motion of stationary center of mass and spinning in place. By bringing V1=-V2 into the above-mentioned preset kinematic model, the motion state corresponding to this case can be obtained.

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

[0098] In some embodiments, the above-mentioned determination of the simulation motion information of the reactor pool cleaning robot according to the motion state result comprises:

[0099] The motion information compensation value is determined through the above-mentioned motion state result;

[0100] The reactor pool cleaning robot is fed forwardly compensated by using a preset feed forward gain mode and the above-mentioned motion information compensation value, and the above-mentioned simulation motion information is obtained. The above-mentioned preset feed forward gain mode comprises at least one of the following: speed feed forward gain, acceleration feed forward gain, and friction feed forward gain.

[0101] Specifically, after the above-mentioned motion state result is taken as an initial motor simulation quantity, the feed forward controller can determine the disturbance of the system (such as changes in friction, changes in load, and the like) according to the initial motor simulation quantity, then calculate the required compensation amount, that is, the above-mentioned motion information compensation value, through a preset compensation calculation mode, and then compensate the initial motor simulation quantity through the above-mentioned motion information compensation value matching the corresponding type of feed forward gain mode, to obtain the input quantity of the servo control system, that is, the above-mentioned simulation motion information.

[0102] Optionally, the above-mentioned preset compensation calculation mode can comprise at least one of the following: linearization calculation, filtering calculation, prediction calculation, and the like. The above-mentioned motion information compensation value can comprise at least one of the following: speed compensation value, acceleration compensation value, friction compensation value, and the like.

[0103] For example, assuming that the required compensation amount is calculated as a speed compensation value AV through a filtering calculation method, the actual speed of the reactor cask cleaning robot can be adjusted by corresponding increase of AV on the basis of the initial motor analog quantity through a speed feedforward gain.

[0104] In the embodiments of the present application, the input quantity of the servo motion system is adjusted through feedforward control, which can avoid large deviation of the system input from the expected motion information, thereby improving the accuracy of the motion control of the reactor cask cleaning robot.

[0105] In some embodiments, the above-mentioned adjustment of the above-mentioned analog motion information to obtain the above-mentioned actual motion information through a preset motion control algorithm comprises:

[0106] calculating the difference between the above-mentioned analog motion information and the above-mentioned expected motion information to obtain the above-mentioned analog deviation;

[0107] adjusting the above-mentioned analog deviation through a preset adjustment method; the above-mentioned preset adjustment method comprises at least one of proportional adjustment, integral adjustment and differential adjustment;

[0108] In the case where the adjusted above-mentioned analog deviation meets a preset analog requirement, the actual analog information output by the corresponding servo control system of the above-mentioned reactor cask cleaning robot is determined as the above-mentioned actual motion information.

[0109] Specifically, first, the analog deviation between the analog motion information and the expected motion information is calculated, and then the actual analog information of the servo control system is adjusted through one or a combination of multiple ways of proportional adjustment, integral adjustment and differential adjustment. Among them, the proportional adjustment adjusts the size of the actual analog quantity through the size of the current analog deviation, when the analog deviation is large, the actual analog information is adjusted according to a larger adjustment proportion, when the analog deviation is small, the actual analog information is adjusted according to a smaller adjustment proportion; the integral adjustment adjusts the size of the actual analog quantity through the amount of the analog deviation accumulated over time, the larger the amount of the analog deviation accumulated over time, the larger the amplitude of the integral adjustment; the differential adjustment adjusts the size of the actual analog quantity through the rate of change of the analog deviation, the larger the rate of change of the analog deviation, the larger the amplitude of the differential adjustment. The actual analog information is adjusted through the adjustment result of one or a combination of multiple ways of proportional adjustment, integral adjustment and differential adjustment, until the above-mentioned analog deviation meets the preset analog requirement (for example, less than or equal to a preset analog deviation threshold), the actual analog information output by the servo control system at this time is determined as the above-mentioned actual motion information.

[0110] It should be noted that in the case of combining multiple adjustment modes, the adjustment results 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 adapt to different adjustment situations. For example, assuming that the coefficients corresponding to 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 is adjusted by adjusting the above three coefficients to avoid too large deviation between the actual motion information and the expected motion information.

[0111] In the embodiments of the present application, after the simulation motion information is input into the servo control system, the actual simulation information is adjusted by one or more of proportional adjustment, integral adjustment and differential adjustment, which can further avoid too large 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 the complex terrain environment of the nuclear power plant and the long-time 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 feedback control of the reactor pool cleaning robot according to the actual motion information and the expected motion information, and the adjustment of the actual motion information according to the feedback control result, include:

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

[0114] In the case that the first feedback deviation does not meet the preset feedback requirement, the output quantity of the servo control system corresponding to the reactor pool cleaning robot is adjusted by a preset feedback gain mode and the first feedback deviation to obtain new actual motion information, and the steps of calculating the difference between the actual motion information and the expected motion information and the subsequent steps are returned until the first feedback deviation meets the preset feedback requirement, and the adjusted actual motion information is obtained; the preset feedback gain mode 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 can include one of the following: less than or equal to a preset feedback threshold, falling within a preset feedback threshold range, etc. In addition, in the case that 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 can be less than or equal to the preset simulation deviation threshold.

[0116] Specifically, to avoid the actual motion information deviating from the expected motion information, the actual motion information of the reactor pool cleaning robot can be determined by the encoder of the servo control system constantly, and then a first feedback deviation of the actual motion information and the expected motion information can be calculated. In a case where the first feedback deviation does not meet a preset feedback requirement (for example, is greater than a preset feedback threshold or is not within a preset feedback threshold range), the output quantity of the servo control system corresponding to the reactor pool cleaning robot can be adjusted by a preset feedback gain mode, and the above steps can be iterated for multiple times until the first feedback deviation meets the preset feedback requirement, and a new actual motion information is obtained. Optionally, specific processes of the proportional gain, the integral gain and the differential gain can refer to the adjustment processes of the proportional adjustment, the integral adjustment and the differential adjustment in the above embodiments, which will not be described here.

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

[0118] In some embodiments, in the servo control system, directly comparing the actual motion information and the expected motion information by feedback control can occupy a large amount of computing resources, causing instability of the system, and since the expected motion information is a static target value, it can not reflect the dynamic changes of the system. Therefore, the feedback control of the reactor pool cleaning robot according to the actual motion information and the expected motion information, and the adjustment of the actual motion information according to the result of the feedback control, includes:

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

[0120] In a case where the second feedback deviation does not meet a preset feedback requirement, the output quantity of the servo control system corresponding to the reactor pool cleaning robot can be adjusted by a preset feedback gain mode and the second feedback deviation to obtain a new actual motion information, and the above step of calculating the difference between the actual motion information and the simulated motion information and the subsequent steps are returned until the second feedback deviation meets the preset feedback requirement, and the adjusted actual motion information is obtained. The preset feedback gain mode includes at least one of a proportional gain, an integral gain and a differential gain.

[0121] Specifically, the analog motion information is an input of the servo control system, and the actual motion information is an output of the servo control system. The difference between the actual motion information and the analog motion information is the difference between the input and the output of the system, which can better reflect the change of the system. Therefore, in the feedback control, the calculation process can be simplified and the calculation complexity can be reduced by introducing the analog motion information, so as to improve the real-time performance and stability of the system. In addition, the comparison between the actual motion information and the analog motion information can also trigger the control action faster and improve the response speed of the entire system. It should be noted that the adjustment of the actual motion information by the difference between the actual motion information and the analog motion information is similar to the above embodiment, which will not be described here.

[0122] In order to better illustrate the adjustment process of the actual motion information, the following will be described in combination with Figure 4 , referring to Figure 4 , first, the initial motor analog quantity x1 is determined according to the expected motion information, then the feedforward control is performed through the feedforward controller to obtain the analog motion information (i.e. the motor analog quantity x2 in Figure 4 ); the above-mentioned feedforward controller includes a speed gain adjuster, an acceleration gain adjuster, a friction gain adjuster and the like, wherein the speed gain adjuster is used for speed feedforward gain, the acceleration gain adjuster is used for acceleration feedforward gain, and the friction gain adjuster is used for friction feedforward gain; the analog motion information (i.e. the motor analog quantity x2 in Figure 4 ) obtained by the feedforward control is used as the input of the servo control system, and the motion control is performed through the PID adjuster to obtain the actual motion information (i.e. the encoder actual analog quantity x3 in Figure 4 ); finally, the feedback control is performed according to the difference between the actual motion information and the analog motion information, and the actual motion information is continuously adjusted through feedback to improve the accuracy and stability of the motion control of the reactor pool cleaning robot.

[0123] In another optional embodiment of the present application, the harmonic effect of the servo control system can also 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 the feedforward control and / or the feedback control, which is not limited here. For example, in the feedforward control, if a disturbance signal of a certain specific frequency is predicted, the notch filter can be used for pre-suppression; in the feedback control, if a noise signal of a certain specific frequency is detected, the notch filter can also be used for elimination.

[0124] It should be understood that the size of the serial number of each step in the above-mentioned embodiment does not mean the order of execution, and the execution order of each process should be determined according to its function and inherent logic, and should not constitute any limitation on the implementation process of the embodiment of the present application.

[0125] The motion control method of the reactor pool cleaning robot corresponds to the motion control method of the reactor pool cleaning robot described in the above embodiments, Figure 5 A structural diagram of a motion control device of a reactor pool cleaning robot is shown. For ease of illustration, only parts related to the embodiments of the present application are shown.

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

[0127] Referring to Figure 5 The motion control device of the reactor pool cleaning robot includes:

[0128] The motion instruction acquisition module 511 is configured to acquire a motion instruction, wherein the motion instruction includes expected motion information during the motion of the reactor pool cleaning robot.

[0129] The feedforward control module 512 is configured 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 configured to predict the motion state of the reactor pool cleaning robot according to the expected motion information, and compensate for 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 approaches the expected motion information.

[0130] The feedback control module 513 is configured 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 the 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 configured to control the 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 configured to, before the motion instruction is acquired, include:

[0132] Acquire environmental data of a region to be cleaned.

[0133] Perform path planning on 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.

[0134] Correspondingly, after the path planning result is determined, the motion instruction acquisition module 511 acquires the motion instruction, including:

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

[0136] Correspondingly, 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:

[0137] During the movement of the reactor pool cleaning robot 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 expected motion information at least includes one of the following: expected position information, expected speed information, and expected acceleration information; the expected position information can include expected position coordinates, etc.; the expected speed information can include expected maximum or minimum speed, etc.; and the expected acceleration information can include expected maximum 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] According to a preset kinematic model and the expected motion information, the motion state of the reactor pool cleaning robot is predicted to obtain a motion state result;

[0141] According to the motion state result, the simulated motion information of the reactor pool cleaning robot is determined, 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;

[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 through the simulated deviation between the simulated motion information and the expected motion information.

[0143] In some embodiments, in order to facilitate adjustment of the motion state of the reactor pool cleaning robot, such as pose, speed, angle, etc., the reactor pool cleaning robot can include multiple independent drive wheels, and in the case where the reactor pool cleaning robot includes at least two independent drive wheels, the independent drive wheels can be respectively predicted according to the preset kinematic model, so as to adapt to different path conditions in the path planning result. Optionally, the path planning result includes a straight path and / or a circular arc path, and the feedforward control module 512, when predicting the motion state of the reactor pool cleaning robot according to the preset kinematic model and the expected motion information, obtains a motion state result, including:

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

[0145] or,

[0146] predicting the motion state of the at least two independent drive wheels of the reactor pool cleaning robot on the circular arc path according to the preset kinematic model and the expected motion information, to obtain a second motion state result.

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

[0148] determining a motion information compensation value through the motion state result;

[0149] performing feedforward compensation on the reactor pool cleaning robot by using a preset feedforward gain mode and the motion information compensation value, to obtain the simulated motion information; the preset feedforward gain mode includes at least one of the following: speed feedforward gain, acceleration feedforward gain, and friction feedforward gain.

[0150] In some embodiments, the feedforward control module 512, when adjusting the simulated motion information by using a preset motion control algorithm to obtain the actual motion information, includes:

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

[0152] adjusting the simulated deviation by using a preset adjustment mode; the preset adjustment mode includes at least one of the following: proportional adjustment, integral adjustment, and differential adjustment;

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

[0154] In some embodiments, due to complex terrain environment of the nuclear power plant and long-time operation of the reactor pool cleaning robot, the actual motion information of the reactor pool cleaning robot may deviate from the expected motion information. 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 a result of the feedback control, the feedback control module 513 includes:

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

[0156] In a case where the first feedback deviation does not meet preset feedback requirements, an output quantity of the servo control system corresponding to the reactor pool cleaning robot is adjusted by a preset feedback gain mode 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 requirements, and the adjusted actual motion information is obtained; the preset feedback gain mode includes at least one of proportional gain, integral gain, and differential gain.

[0157] In some embodiments, in the servo control system, directly comparing the actual motion information and the expected motion information by feedback control may occupy a large amount of computing resources, causing instability of the system, and since the expected motion information is a static target value, the system dynamic change may not be reflected. 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 a result of the feedback control, the feedback control module 513 includes:

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

[0159] In a case where the second feedback deviation does not meet preset feedback requirements, an output quantity of the servo control system corresponding to the reactor pool cleaning robot is adjusted by a preset feedback gain mode 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 simulation motion information and subsequent steps are returned until the second feedback deviation meets the preset feedback requirements, and the adjusted actual motion information is obtained; the preset feedback gain mode includes at least one of proportional gain, integral gain, and differential gain.

[0160] It should be noted that the information interaction and execution process between the 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, which will not be repeated here.

[0161] Figure 6 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this 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 diagram), memory 61, and computer program 62 stored in said memory 61 and executable on said at least one processor 60. When the processor 60 executes said computer program 62, it implements the steps in any of the various method embodiments.

[0162] The electronic device 6 can be a desktop computer, laptop, handheld computer, or cloud server, etc. The electronic device may include, but is not limited to, a processor 60 and a memory 61. Those skilled in the art will understand that... Figure 6 This is merely an example of electronic device 6 and does not constitute a limitation on electronic device 6. It may include more or fewer components than shown, or combine certain components, or different components. For example, the electronic device may also include input transmitting devices, network access devices, buses, etc.

[0163] The processor 60 may be a Central Processing Unit (CPU), or 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.

[0164] The memory 61 can be an internal storage unit of the electronic device 6 in some embodiments, such as a hard disk or a memory of the electronic device 6. The memory 61 can 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, and the like equipped on the electronic device 6. Further, the memory 61 can 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, data, and other programs, such as program codes of the computer program, and the like. The memory 61 can also be used to temporarily store data that has been transmitted or is to be transmitted.

[0165] It should be clearly understood by those skilled in the art that, for the convenience and brevity of description, only the division of the functional units and modules is taken as an example, and in actual application, the functions can be completed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to complete all or part of the functions described above. Each functional unit and module in the embodiment can be integrated in one processing unit, or each unit can exist physically, or two or more units can be integrated in one unit, and the integrated unit can be realized in the form of hardware or in the form of a software functional unit. In addition, the specific names of the functional units and modules are only for the convenience of mutual distinction, and do not limit the protection scope of the present application. The specific working process of the units and modules in the system can refer to the corresponding process in the foregoing method embodiments, which will not be described here.

[0166] The embodiments of the present application also provide a network device, which comprises at least one processor, a memory, and a computer program stored in the memory and executable on the at least one processor, and the processor implements the steps in any of the method embodiments when executing the computer program.

[0167] The embodiments of the present application also provide a computer readable storage medium, which stores a computer program, and the computer program is executable on a processor to implement the steps in the method embodiments.

[0168] The embodiments of the present application provide a computer program product, which, when running on an electronic device, enables the electronic device to implement the steps in the method embodiments.

[0169] The integrated unit, if implemented in the form of a software function unit and sold or used as an independent product, can be stored in a computer readable storage medium. Based on such understanding, the present application implements all or part of the processes in the embodiment methods, which can be completed by instructing relevant hardware through a computer program. The computer program can be stored in a computer readable storage medium, and the computer program can implement the steps of the various method embodiments when executed by a processor. The computer program includes computer program code, which can be in the form of source code, object code, executable files or some intermediate forms. The computer readable medium at least includes any entity or device capable of carrying the computer program code to the photographing device / electronic device, recording medium, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signal, telecommunication signal and software distribution medium. For example, U disk, mobile hard disk, magnetic disk or optical disk, etc. In some jurisdictions, according to legislation and patent practice, the computer readable medium can not be an electrical carrier signal and a telecommunication signal.

[0170] In the embodiments, the description of each embodiment has its own focus, and the parts not described or recorded in detail in a certain embodiment can be referred to the related description of other embodiments.

[0171] Those skilled in the art can appreciate that the units and algorithm steps of the examples described in combination with the embodiments disclosed herein can be realized by electronic hardware or a combination of computer software and electronic hardware. Whether the functions are realized in hardware or software depends on the specific application and design constraints of the technical solution. The skilled person can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the present application.

[0172] In the embodiments provided in the present application, it should be understood that the disclosed apparatus / network device and method can be implemented in other ways. For example, the apparatus / network device embodiments described above are only schematic. The division of the modules or units is only a logical function division, and there can be another division manner in actual implementation. For example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the displayed or discussed mutual coupling or direct coupling or communication connection can be indirect coupling or communication connection through some interface, device or unit, and can be electrical, mechanical or other forms.

[0173] The units described as separate components may or may not be physically separate, and the components displayed as units may or may not be physical units, that is, may be located in one place, or may also be distributed to multiple network units. Part or all of the units can be selected to achieve the purpose of the embodiment scheme according to actual needs.

[0174] The above embodiments are only used to illustrate the technical solutions of the present application, but not limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that the technical solutions recorded in the foregoing embodiments can still be modified, or some technical features can be replaced by equivalents; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should 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: Acquire motion instructions, wherein the motion instructions include desired motion information during the movement of the reactor pool cleaning robot; Feedforward control is performed on the reactor pool cleaning robot based on 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 based on the expected motion information, and to compensate the motion of the reactor pool cleaning robot based on the predicted motion state, so that the actual motion information of the reactor pool cleaning robot is close to the expected motion information. The reactor pool cleaning robot is subjected to feedback control based on the actual motion information and the desired motion information. 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 desired motion information. The feedback control is used to control the degree of deviation between the actual motion information and the desired motion information. Before acquiring motion commands, the method also includes: Obtain environmental data of the area to be cleaned; Based on the environmental data, path planning is performed on the reactor pool cleaning robot to obtain path planning results, wherein the path planning includes global path planning and / or local path planning; The acquisition of motion commands includes: Obtain the path planning results and the expected motion information during the movement of the reactor pool cleaning robot; The step of performing feedforward control on the reactor pool cleaning robot based on the desired motion information to obtain actual motion information includes: During the movement of the reactor pool cleaning robot according to the path planning results, feedforward control is performed on the reactor pool cleaning robot based on the expected motion information to obtain the actual motion information; The step of performing feedback control on the reactor pool cleaning robot based on the actual motion information and the desired motion information, and adjusting the actual motion information based on the result of the feedback control, includes: The difference between the actual motion information and the expected motion information is calculated to obtain the first feedback deviation; If the first feedback deviation does not meet the preset feedback requirements, the output of the servo control system corresponding to the reactor pool cleaning robot is adjusted by the preset feedback gain method and the first feedback deviation to obtain new actual motion information. The process then returns to the step of calculating the difference between the actual motion information and the desired motion information, and subsequent steps, until the first feedback deviation meets the preset feedback requirements, and the adjusted actual motion information is obtained. The preset feedback gain method includes at least one of the following: proportional gain, integral gain, and derivative gain.

2. The motion control method for the reactor pool cleaning robot as described in claim 1, characterized in that, The desired motion information includes at least one of the following: desired position information, desired velocity information, and desired acceleration information; the step of performing feedforward control on the reactor pool cleaning robot based on the desired motion information to obtain actual motion information includes: The motion state of the reactor pool cleaning robot is predicted based on the preset kinematic model and the expected motion information, and the motion state result is obtained. The simulated motion information of the reactor pool cleaning robot is determined based on the motion state results, wherein the simulated motion information is the system input quantity determined by the servo control system corresponding to the reactor pool cleaning robot based on the motion state results; 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 the simulation deviation between the simulated motion information and the desired motion information.

3. The motion control method for the reactor pool cleaning robot as described in claim 2, characterized in that, When the reactor pool cleaning robot includes at least two independent drive wheels, the path planning result includes a straight path and / or a circular path. The step of predicting the motion state of the reactor pool cleaning robot based on a preset kinematic model and the desired motion information to obtain the motion state result includes: Based on the preset kinematic model and the expected motion information, predict the motion state of at least two independent drive wheels of the reactor pool cleaning robot when it is on the straight path, and obtain the first motion state result; or, Based on the preset kinematic model and the expected motion information, the motion state of the at least two independent drive wheels of the reactor pool cleaning robot is predicted when it is on the arc path, and a second motion state result is obtained.

4. The motion control method for the reactor pool cleaning robot as described in claim 2, characterized in that, The step of determining the simulated motion information of the reactor pool cleaning robot based on the motion state results includes: The motion information compensation value is determined based on the motion state results; The reactor pool cleaning robot is fed forward 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.

5. The motion control method for the reactor pool cleaning robot as described in claim 2, characterized in that, The step of adjusting the simulated motion information through a preset motion control algorithm to obtain the actual motion information includes: The difference between the simulated motion information and the desired motion information is calculated to obtain the simulation 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 derivative adjustment; If the adjusted simulation deviation meets the preset simulation requirements, the actual simulation information output by the servo control system corresponding to the reactor pool cleaning robot is determined as the actual motion information.

6. The motion control method for a reactor pool cleaning robot as described in any one of claims 2-5, characterized in that, The step of performing feedback control on the reactor pool cleaning robot based on the actual motion information and the desired motion information, and adjusting the actual motion information based on the result of the feedback control, includes: Calculate the difference between the actual motion information and the simulated motion information to obtain the second feedback deviation; If the second feedback deviation does not meet the preset feedback requirements, 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. The process then returns to the step of calculating the difference between the actual motion information and the simulated motion information, and subsequent steps, until the second feedback deviation meets the preset feedback requirements, and the adjusted actual motion information is obtained. The preset feedback gain method includes at least one of the following: proportional gain, integral gain, and derivative gain.

7. A motion control device for a reactor pool cleaning robot, characterized in that, include: A motion command acquisition module is used to acquire motion commands, wherein the motion commands include expected motion information during the movement of the reactor pool cleaning robot. The feedforward control module is used to perform feedforward control on the reactor pool cleaning robot according to the expected motion information to obtain the 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 based on the actual motion information and the desired motion information, and to adjust the actual motion information 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 desired motion information; the feedback control is used to control the degree of deviation between the actual motion information and the desired motion information. The path planning module is used to acquire environmental data of the area to be cleaned before acquiring the motion command; Based on the environmental data, path planning is performed on the reactor pool cleaning robot to obtain path planning results, wherein the path planning includes global path planning and / or local path planning; The motion command acquisition module, when acquiring motion commands, includes: Obtain the path planning results and the expected motion information during the movement of the reactor pool cleaning robot; When the feedforward control module performs feedforward control on the reactor pool cleaning robot based on the desired motion information to obtain the actual motion information, it includes: During the movement of the reactor pool cleaning robot according to the path planning results, feedforward control is performed on the reactor pool cleaning robot based on the expected motion information to obtain the actual motion information; The feedback control module performs feedback control on the reactor pool cleaning robot based on the actual motion information and the desired motion information, and adjusts the actual motion information based on the result of the feedback control, including: The difference between the actual motion information and the expected motion information is calculated to obtain the first feedback deviation; If the first feedback deviation does not meet the preset feedback requirements, the output of the servo control system corresponding to the reactor pool cleaning robot is adjusted by the preset feedback gain method and the first feedback deviation to obtain new actual motion information. The process then returns to the step of calculating the difference between the actual motion information and the desired motion information, and subsequent steps, until the first feedback deviation meets the preset feedback requirements, and the adjusted actual motion information is obtained. The preset feedback gain method includes at least one of the following: proportional gain, integral gain, and derivative gain.

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-readable storage medium storing a computer program, characterized in that, When the computer program is executed by a processor, it implements the method as described in any one of claims 1 to 6.

10. A computer program product, characterized in that, Includes a computer program, which, when run, implements the method as described in any one of claims 1 to 6.

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