Inspection control method and system for multiple inspection robots of nuclear power station and computer equipment

Abstract

The invention relates to an inspection control method and system for multiple inspection robots of a nuclear power station and computer equipment. The method comprises the following steps that an inspection point list is determined, and the inspection point list comprises a plurality of inspection points; performing the following steps on each inspection point: acquiring inspection point information of the current inspection point and historical inspection data of each inspection robot for the current inspection point; according to the inspection point information and the historical inspection data, the inspection matching value of each inspection robot for the current inspection point is calculated; and determining an inspection robot of the current inspection point according to all the inspection matching values so as to inspect the current inspection point. The robot for inspecting the inspection point is selected through automatic learning according to the historical inspection data, high adaptability and flexibility are achieved, and manual intervention and labor cost input can be reduced.

Description

Technical Field

[0001] The present invention relates to robot field control, and in particular to an inspection control method, system and computer equipment for multiple inspection robots in a nuclear power plant. Background Art

[0002] In order to improve the efficiency and quality of nuclear power plant inspections and ensure the safe and stable operation of nuclear power plants, nuclear power plant inspection robots have emerged. Inspection robots use artificial intelligence technology to automatically complete the inspection work of various inspection points in nuclear power plants instead of manual work, reduce the labor intensity and work risks of personnel, and improve the intelligence level of nuclear power plants.

[0003] In the prior art, different inspection robots are deployed in various areas of a nuclear power plant, and each inspection robot operates independently in its area. Each robot is controlled by a separate control background, and data interaction and sharing of different types of robots are not achieved, making it impossible to fully monitor and manage the operation of the nuclear power plant robots. In addition, the information analysis function is weak, and the task allocation of the inspection robot depends on the experience of the staff, with a high degree of manual intervention. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide an inspection control method, system and computer equipment for multiple inspection robots in a nuclear power plant.

[0005] The technical solution adopted by the present invention to solve the technical problem is: to provide an inspection control method for multiple inspection robots in a nuclear power plant, comprising the following steps:

[0006] S1. Determine a list of inspection points, wherein the list of inspection points includes a number of inspection points;

[0007] S2. Perform the following steps for each inspection point:

[0008] S21, obtaining inspection point information of the current inspection point and historical inspection data of each inspection robot for the current inspection point;

[0009] S22, calculating the inspection matching value of each inspection robot for the current inspection point according to the inspection point information and the historical inspection data;

[0010] S23. Determine the inspection robot of the current inspection point according to all inspection matching values ​​to inspect the current inspection point.

[0011] Further, step S22 includes:

[0012] Using the inspection point information to filter the historical inspection data;

[0013] The inspection matching value is calculated according to the filtered historical inspection data.

[0014] Further, the historical inspection data includes historical inspection conditions and historical inspection capability values ​​of the inspection robot inspecting the current inspection point multiple times, and the inspection point information includes the current inspection condition of the current inspection point;

[0015] The step S22 of using the inspection point information to filter the historical inspection data includes:

[0016] Filter out the historical inspection capability values ​​whose historical inspection conditions meet the current inspection conditions;

[0017] Calculating the inspection matching value according to the filtered historical inspection data in step S22 includes:

[0018] The inspection matching value is calculated according to the filtered historical inspection capability values.

[0019] Furthermore, in step S21, obtaining the historical inspection data of each inspection robot for the current inspection point includes:

[0020] Obtain historical inspection results and corresponding historical actual results of the inspection robot inspecting the current inspection point multiple times;

[0021] The historical inspection capacity value of each time is calculated based on the historical inspection results of each time and the corresponding historical actual results.

[0022] Further, when the current inspection point belongs to the first type, the historical inspection capability value of each time is calculated according to each historical inspection result and the corresponding historical actual result, including:

[0023] If the inspection robot does not have the historical inspection result for the current inspection point, α=0;

[0024] If the inspection robot has the historical inspection result for the current inspection point, then α=1-|(A-B) / C×100%|;

[0025] Among them, α is the historical inspection capability value of the inspection robot for the current inspection point, A is the historical inspection result, B is the historical actual result, and C is the meter range of the current inspection point.

[0026] Further, when the current inspection point belongs to the second type, the historical inspection capability value of each time is calculated according to each historical inspection data and the corresponding historical actual result, including:

[0027] If the inspection robot does not have the historical inspection result for the current inspection point, or the historical actual result is not equal to the historical inspection result, then α=0;

[0028] If the historical actual result is equal to the historical inspection result, then α=1.

[0029] Further, the historical inspection data includes historical inspection conditions, historical inspection data and corresponding historical actual results of the inspection robot inspecting the current inspection point multiple times, and the inspection point information includes the current inspection condition of the current inspection point;

[0030] The step S22 of using the inspection point information to filter the historical inspection data includes:

[0031] Filter out the historical inspection results and historical actual results whose historical inspection conditions meet the current inspection conditions;

[0032] Calculating the inspection matching value according to the screened historical inspection results in step S22 includes:

[0033] The historical inspection capacity value of each time is calculated based on the filtered historical inspection results and the corresponding historical actual results;

[0034] The inspection matching value is calculated according to each historical inspection capability value.

[0035] Further, step S23 includes:

[0036] The inspection robot with the largest inspection matching value is selected as the inspection robot for the current inspection point.

[0037] A patrol control system for multiple patrol robots in a nuclear power plant is also provided, comprising:

[0038] A patrol point list determination module, used to determine a patrol point list, wherein the patrol point list includes a plurality of patrol points;

[0039] The inspection robot allocation module is used to perform the following steps for each inspection point respectively: obtain the inspection point information of the current inspection point and the historical inspection data of each inspection robot for the current inspection point; calculate the inspection matching value of each inspection robot for the current inspection point based on the inspection point information and the historical inspection data; determine the inspection robot of the current inspection point based on all inspection matching values.

[0040] A computer device is also provided, comprising a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of any one of the above methods when executing the computer program.

[0041] The inspection control method, system and computer equipment for multiple inspection robots in a nuclear power plant implementing the present invention have the following beneficial effects: after the inspection point is determined, a inspection robot suitable for the inspection point is selected to perform the inspection work based on the inspection point information and the historical inspection data of the inspection robot, and the robot that inspects the inspection point is selected through automated learning based on the historical inspection data, which has strong adaptability and flexibility and can also reduce manual intervention and labor cost investment. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] The present invention will be further described below with reference to the accompanying drawings and embodiments, in which:

[0043] Figure 1 It is a flow chart of an embodiment of an inspection control method for multiple inspection robots in a nuclear power plant according to the present invention. DETAILED DESCRIPTION

[0044] In order to have a clearer understanding of the technical features, purposes and effects of the present invention, the specific implementation methods of the present invention are now described in detail with reference to the accompanying drawings. In the following description, the terms "first", "second", etc. are only for the convenience of describing the present technical solution, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first", "second", etc. may explicitly or implicitly include one or more of the features. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to the specific circumstances.

[0045] The inspection control method, system and computer device of the nuclear power plant multi-inspection robot of the present invention can be applied to multiple inspection robots to realize the task allocation of the inspection robots. The types of different inspection robots can be the same or different, and their types include but are not limited to quadruped robots, wheeled lifting robots, rail-type inspection robots or flying robots. The inspection robot is used to perform inspection work, for example, to obtain the working status, appearance status and indicator light status of nuclear power plant equipment through high-definition image recognition technology; or, to monitor the working temperature status of power plant equipment through infrared thermal imagers to ensure the normal operation of the power plant.

[0046] like Figure 1 As shown, in one embodiment of a patrol control method for multiple patrol robots in a nuclear power plant of the present invention, the following steps are included:

[0047] S1. Determine a patrol point list, where the patrol point list includes a number of patrol points.

[0048] In this step, an inspection point includes an inspection task of the equipment or area that needs to be inspected. According to the routine inspection tasks, regular inspection tasks, key inspection tasks or other inspection requirements of the nuclear power plant, the inspection work content that needs to be performed by the robot can be determined, and a list of inspection points can be further generated. The inspection point list may include one or more inspection points, that is, one or more inspection tasks. Among them, each inspection task is a loose task that can be directly performed by a single robot. The inspection tasks are independent of each other, and there is no temporal correlation or binding relationship between them. The execution of tasks does not affect each other. The task difficulty is not high, and it can generally be performed by one robot without the need for multiple robots to cooperate with each other.

[0049] For example: 1. Take a photo to identify the hard disk indicator light, power indicator light of a server, or identify the port status, connection status, etc. of a network device, to determine whether the device is operating normally, find abnormal conditions and record them. 2. Take a photo to identify whether the server's shell is deformed, has scratches, etc., as well as whether the device label is clear, whether the screws are loose, etc. Through appearance status recognition, abnormal conditions of the device appearance can be discovered in time and handled. 3. Use an infrared thermal imager to monitor the temperature of power station equipment. This ensures that the equipment operates within the normal operating temperature range to prevent damage to the equipment caused by overheating or overcooling. By monitoring the temperature of the equipment in real time, the robot can detect abnormal conditions in time and issue an alarm prompt. 4. When it is detected that the temperature in a certain area is too high, the robot can automatically control the air conditioning system to increase the cooling capacity to ensure that the temperature of the entire power station equipment remains stable.

[0050] S2. Perform the following steps for each inspection point:

[0051] S21. Obtain the inspection point information of the current inspection point and the historical inspection data of each inspection robot for the current inspection point.

[0052] In this step, the inspection point information refers to the relevant information of the current inspection point, including but not limited to the current inspection conditions of the current inspection point. The current inspection conditions refer to the working conditions of the current inspection point in this inspection plan, which can be used to select a suitable inspection robot to perform the inspection work of the current inspection point. In other embodiments, the inspection point information may also include information such as the inspection point name, inspection type, and spatial location. Historical inspection data refers to the data recorded when the inspection robot inspected the current inspection point in the previous inspection. By issuing comprehensive inspection commands to each inspection robot under different working conditions and inspecting all inspection points, the historical inspection data of each inspection robot for each inspection point under different working conditions can be collected; alternatively, the historical inspection data of the inspection robot in other inspection plans can also be collected.

[0053] In this step, all historical inspection data of each robot on the current inspection point are obtained from the database for subsequent analysis and calculation, which can comprehensively consider the execution status of the robot and provide more accurate and reliable allocation results. In other embodiments, only part of the historical inspection data can be obtained for subsequent analysis and calculation, for example, historical inspection data within a certain time period is obtained, or a certain number of recent historical inspection data is obtained. Compared with obtaining all historical inspection data, this method can reduce the consumption of computing resources, and subsequent analysis and calculation are more flexible.

[0054] S22. Calculate the inspection matching value of each inspection robot for the current inspection point according to the inspection point information and historical inspection data.

[0055] In this step, since different types of robots are heterogeneous, the capabilities of different types of robots are often different. Even robots of the same type may have different capabilities due to differences in aging. The inspection matching value represents the adaptability of the inspection robot to the inspection point and is used to evaluate the robot's proficiency in the inspection work of the inspection point. The historical inspection data can reflect the performance of the robot when performing the work of the inspection point. Based on the inspection point information of the inspection point and the historical inspection data of each inspection robot for the inspection point, the proficiency of each inspection robot for the inspection point is analyzed.

[0056] Specifically, step S22 includes:

[0057] S221. Use the inspection point information to filter the historical inspection data.

[0058] S222. Calculate the inspection matching value according to the filtered historical inspection data.

[0059] The inspection point information of the current inspection point is used to filter the historical inspection data of the robot at the inspection point, and the historical inspection data that does not conform to the current inspection point information is eliminated. Then, the inspection matching value between the robot and the current inspection point in this inspection is calculated, which can improve the accuracy of the analysis.

[0060] S23. Determine the inspection robot of the current inspection point according to all inspection matching values ​​to inspect the current inspection point.

[0061] In this step, after determining the inspection matching value of each inspection robot, the inspection robot that meets the preset selection rules is selected as the robot to perform the inspection point task. Since the inspection work of the inspection point is a loose task, a suitable robot can be selected from all robots according to the characteristics of the inspection target, thereby improving the accuracy of performing the inspection work. Compared with the existing technology, the robot that inspects the inspection point through automatic learning based on historical inspection data has strong adaptability and flexibility, and can also reduce manual intervention and labor cost investment.

[0062] Furthermore, after all inspection points in the inspection point list are assigned, the inspection points assigned to each robot are counted to obtain the inspection task list of each inspection robot, and the inspection task list is sent directly to the inspection robot so that each inspection robot can perform inspection work according to its own inspection task list without going through the control background of each inspection robot. This solution obtains the data of all robots and improves a reasonable task sharing mechanism, which can fully dispatch all inspection robots, avoid conflicts between robots, and coordinate different robots to perform inspection work efficiently.

[0063] In an optional embodiment, the historical inspection data includes the historical inspection conditions and historical inspection capability values ​​of the inspection robot for multiple inspections of the current inspection point, and the inspection point information includes the current inspection conditions of the current inspection point. The historical inspection conditions refer to the working conditions of the inspection robot each time it inspected the inspection point in the past. The historical inspection capability value indicates the degree of competence of the inspection robot each time it inspected the inspection point in the past, that is, the accuracy of task completion.

[0064] In step S21, obtaining the historical inspection data of each inspection robot for the current inspection point includes:

[0065] S211. Obtain historical inspection results of the inspection robot inspecting the current inspection point multiple times and corresponding historical actual results.

[0066] S212. Calculate each historical inspection capability value based on each historical inspection result and the corresponding historical actual result.

[0067] Specifically, the historical inspection results are the inspection results of the robot's previous inspections, such as the meter readings, indicator light off conditions, or temperature values ​​of a certain area identified by the robot. The historical actual results are the actual results corresponding to each historical inspection result, such as the actual meter readings, indicator light off conditions, or actual temperature values ​​of the area.

[0068] Each time a patrol robot completes its patrol point inspection, it can obtain the patrol result of the patrol point. Then, through manual review or obtaining the actual setting value from the nuclear power plant control system, the corresponding historical actual result is obtained. According to the patrol result of the robot and the actual setting value analysis, the accuracy of the robot's patrol this time, that is, the patrol capability value, is obtained. The patrol capability value of this time is stored in the database as the historical patrol capability value, and the patrol conditions of this patrol are recorded as the historical patrol conditions. When a robot is assigned to the patrol point in the future, the historical patrol conditions and historical patrol capability values ​​are read from the database for analysis.

[0069] In this embodiment, the inspection points are divided into the first type and the second type. The first type refers to the inspection points whose inspection work is to read the pointer meter. The inspection points of other inspection work belong to the second type. It can be understood that the classification of inspection points and the calculation scheme of the inspection capability value are not limited to the embodiments of the present invention.

[0070] When the current inspection point belongs to the first type, step S212 includes:

[0071] If the inspection robot has no historical inspection results for the current inspection point, α=0.

[0072] If the inspection robot has historical inspection results for the current inspection point, then α=1―|(A―B) / C×100%|.

[0073] Among them, α is the historical inspection capability value of the inspection robot for the current inspection point, A is the historical inspection result, B is the historical actual result, and C is the meter range of the current inspection point.

[0074] Specifically, if a patrol robot has no historical patrol results for the current patrol point during a patrol, the patrol robot's historical patrol capability value for the current patrol point is set to 0, indicating that it does not have the patrol capability for the patrol point or has not patrolled it. If there are historical patrol results, the patrol capability value of the robot for the patrol point in this patrol is calculated according to the above formula. The larger the value, the stronger the capability.

[0075] When the current inspection point belongs to the second type, step S212 includes:

[0076] If the inspection robot has no historical inspection results for the current inspection point, or the historical actual results are not equal to the historical inspection results, then α=0.

[0077] If the historical inspection capability value is equal to the historical inspection result, then α=1.

[0078] Specifically, if a patrol robot does not have the patrol capability for the current patrol point or the patrol is wrong during a patrol, the historical patrol capability value of the patrol robot for the current patrol point is set to 0. For example, the patrol robot is not equipped with the parts required for the patrol point, or cannot reach the area of ​​the patrol point, or incorrectly identifies the status of the indicator light, etc. If the historical patrol capability value is equal to the historical patrol result, it means that the result of this patrol point is accurate.

[0079] Furthermore, by repeating the above calculation steps for each inspection point, the inspection capability value matrix of the robot for all inspection points in this inspection can be obtained, which is expressed as: D ij (t) = [α i1 (t), α i2 (t), …α ij (t)] T , α ij (t)≥0. Among them, α ij (t) represents the inspection capability value of robot i on inspection point j in t inspections.

[0080] Step S221 includes: screening out historical inspection capability values ​​whose historical inspection conditions meet the current inspection conditions.

[0081] Step S222 includes: calculating the inspection matching value according to the filtered historical inspection capability value.

[0082] Specifically, each historical inspection capability value has a corresponding historical inspection condition. In this embodiment, the historical inspection conditions include but are not limited to the historical inspection time periods and the historical environmental parameters corresponding to the historical inspection time periods. The current inspection conditions include but are not limited to the current inspection time period and the current environmental parameters corresponding to the current inspection time period. Among them, the inspection time period refers to the time period for performing inspections on the inspection point, which can be divided into night and day. In other embodiments, other division methods can also be used according to actual needs, such as dividing into morning, afternoon and evening. Environmental parameters refer to the conditions of the environment when the inspection is performed on the inspection point, including but not limited to light intensity, wind speed, rainfall, snow volume and atmospheric temperature. In other embodiments, environmental parameters may also include other parameters related to the environment.

[0083] According to the inspection period of the inspection point of this inspection, remove the historical inspection capability values ​​of each inspection robot that are inconsistent with the current inspection period; remove the historical inspection capability values ​​of each inspection robot that are inconsistent with the current light intensity; remove the historical inspection capability values ​​of each inspection robot that are inconsistent with the current wind speed; remove the historical inspection capability values ​​of each inspection robot that are inconsistent with the current rainfall (for example, rain or no rain); remove the historical inspection capability values ​​of each inspection robot that are inconsistent with the current snow volume (for example, snow or no snow); remove the historical inspection capability values ​​of each inspection robot that are inconsistent with the current atmospheric temperature. Finally, the historical inspection capability values ​​of each inspection robot whose all historical inspection conditions are consistent with the current inspection conditions are obtained.

[0084] According to the obtained historical inspection capability values, the inspection matching value of each inspection robot is calculated using a preset calculation formula. This embodiment uses the inspection matching value to evaluate the inspection robot's competence for the inspection point task, thereby establishing the capability threshold of each inspection robot. The process uses historical inspection data for statistical iteration. After the number of iterations reaches a certain value or the algorithm converges, the capability threshold can reach an effective and reasonable value.

[0085] The calculation formula is as follows:

[0086]

[0087] Among them, P i (j) represents the inspection matching value of robot i to inspection point j, β ij (k) represents the kth inspection capability value of the i robot for the j inspection point after screening, and N represents the number of inspection capability values ​​of the i robot for the j inspection point after screening.

[0088] In other embodiments, other calculation formulas may also be used, such as a weighted average method.

[0089] Step S23 includes: selecting the inspection robot with the largest inspection matching value as the inspection robot for the current inspection point.

[0090] After obtaining the inspection matching values ​​of all inspection robots for the current inspection point, the inspection robot with the largest inspection matching value is selected to obtain the inspection robot that is most suitable for the current inspection point in this inspection, and the inspection work of the inspection point is assigned to the inspection robot with the largest inspection matching value, thereby maximizing the inspection accuracy. Among them, if there are multiple inspection robots with the largest inspection matching values ​​at the same time, the inspection robot that is most suitable for the current inspection point can be selected randomly or in a certain order or other specific selection methods. This scheme can achieve reasonable task allocation, so that the overall performance of the inspection robots in the nuclear power plant can be improved, and the rationality of resource allocation can be improved, with low computational complexity and short computational time.

[0091] Furthermore, after obtaining the most suitable inspection robot for all inspection points in the inspection point list, the inspection task list of each inspection robot is obtained. After the inspection is completed, the inspection conditions and inspection capability values ​​of each inspection robot at the corresponding inspection point are saved to the database for the inspection matching value calculation of the next inspection task.

[0092] In another alternative embodiment, the difference is:

[0093] The historical inspection data includes the historical inspection conditions, historical inspection results and corresponding historical actual results of the inspection robot's multiple inspections of the current inspection point, and the inspection point information includes the current inspection conditions of the current inspection point.

[0094] Step S221 includes: screening out historical inspection results and historical actual results whose historical inspection conditions meet the current inspection conditions;

[0095] Step S222 includes: calculating each historical inspection capability value according to the screened historical inspection results and the corresponding historical actual results; and calculating the inspection matching value according to each historical inspection capability value.

[0096] In this embodiment, the historical inspection results and corresponding historical actual results of each inspection are stored in the database. When allocating inspection points, the historical inspection results and historical actual results are read from the database. After screening according to the current inspection conditions, the historical inspection capability value of each inspection is calculated, and the inspection matching value is calculated based on all the calculated historical inspection capability values.

[0097] The present invention also provides an inspection control system for multiple inspection robots in a nuclear power plant, which can be used to implement the inspection control method for multiple inspection robots in a nuclear power plant in the above embodiment. In one embodiment, the inspection control system includes:

[0098] The inspection point list determination module is used to determine the inspection point list, wherein the inspection point list includes a plurality of inspection points.

[0099] The inspection robot allocation module is used to perform the following steps for each inspection point: obtain the inspection point information of the current inspection point and the historical inspection data of each inspection robot for the current inspection point; calculate the inspection matching value of each inspection robot for the current inspection point based on the inspection point information and the historical inspection data; determine the inspection robot for the current inspection point based on all inspection matching values.

[0100] Furthermore, the inspection robot allocation module is also used to use the inspection point information to filter the historical inspection data; and calculate the inspection matching value based on the filtered historical inspection data.

[0101] In an optional embodiment, the inspection robot allocation module is further used to screen out historical inspection capability values ​​whose historical inspection conditions meet the current inspection conditions; and calculate the inspection matching value based on the screened historical inspection capability values.

[0102] The inspection robot allocation module is also used to obtain the historical inspection results of the inspection robot's multiple inspections of the current inspection point and the corresponding historical actual results; and calculate the historical inspection capability value of each time based on the historical inspection results and the corresponding historical actual results.

[0103] The inspection robot allocation module is also used to, when the current inspection point belongs to the first type, if the inspection robot has no historical inspection results for the current inspection point, then α=0; if the inspection robot has historical inspection results for the current inspection point, then α=1-|(A-B) / C×100%|; wherein α is the historical inspection capability value, A is the historical inspection result, B is the historical actual result, and C is the meter range of the current inspection point.

[0104] The inspection robot allocation module is also used to, when the current inspection point belongs to the second type, if the inspection robot has no historical inspection results for the current inspection point, or the historical actual results are not equal to the historical inspection results, then α=0; if the historical actual results are equal to the historical inspection results, then α=1.

[0105] In an optional embodiment, the inspection robot allocation module is also used to filter out historical inspection data and historical actual results whose historical inspection conditions meet the current inspection conditions; calculate the historical inspection capability value of each time based on the filtered historical inspection data and the corresponding historical actual results; and calculate the inspection matching value based on each historical inspection capability value.

[0106] The inspection robot allocation module is also used to select the inspection robot with the largest inspection matching value as the inspection robot for the current inspection point.

[0107] The present invention also provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the steps of the inspection control method for multiple inspection robots in a nuclear power plant disclosed in an embodiment of the present invention are implemented. The computer device includes but is not limited to a server, a workstation or an industrial computer.

[0108] It can be understood that the above embodiments only express the preferred implementation modes of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the patent scope of the present invention. It should be pointed out that, for ordinary technicians in this field, the above technical features can be freely combined without departing from the concept of the present invention, and several deformations and improvements can be made, which all belong to the protection scope of the present invention. Therefore, all equivalent changes and modifications made to the scope of the claims of the present invention should belong to the coverage of the claims of the present invention.

Claims

1. A patrol control method for multiple patrol robots in a nuclear power plant, characterized in that: The following steps are involved: S1. Determine a list of inspection points, wherein the list of inspection points includes a number of inspection points; S2. Perform the following steps for each inspection point: S21, obtaining inspection point information of the current inspection point and historical inspection data of each inspection robot for the current inspection point; S22, calculating the inspection matching value of each inspection robot for the current inspection point according to the inspection point information and the historical inspection data; S23. Determine the inspection robot of the current inspection point according to all inspection matching values ​​to inspect the current inspection point.

2. The inspection control method of multiple inspection robots in a nuclear power plant according to claim 1, characterized in that: Step S22 includes: Using the inspection point information to filter the historical inspection data; The inspection matching value is calculated according to the filtered historical inspection data.

3. The inspection control method of multiple inspection robots in a nuclear power plant according to claim 2, characterized in that: The historical inspection data includes historical inspection conditions and historical inspection capability values ​​of the inspection robot inspecting the current inspection point multiple times, and the inspection point information includes the current inspection condition of the current inspection point; The step S22 of using the inspection point information to filter the historical inspection data includes: Filter out the historical inspection capability values ​​whose historical inspection conditions meet the current inspection conditions; Calculating the inspection matching value according to the filtered historical inspection data in step S22 includes: The inspection matching value is calculated according to the filtered historical inspection capability values.

4. The inspection control method of multiple inspection robots in a nuclear power plant according to claim 3, characterized in that: In step S21, obtaining the historical inspection data of each inspection robot for the current inspection point includes: Obtain historical inspection results and corresponding historical actual results of the inspection robot inspecting the current inspection point multiple times; The historical inspection capacity value of each time is calculated based on the historical inspection results of each time and the corresponding historical actual results.

5. The inspection control method of multiple inspection robots in a nuclear power plant according to claim 4, characterized in that: When the current inspection point belongs to the first type, the historical inspection capability value of each time is calculated according to each historical inspection result and the corresponding historical actual result, including: If the inspection robot does not have the historical inspection result for the current inspection point, α=0; If the inspection robot has the historical inspection result for the current inspection point, then α=1-|(A-B) / C×100%|; Among them, α is the historical inspection capability value of the inspection robot for the current inspection point, A is the historical inspection result, B is the historical actual result, and C is the meter range of the current inspection point.

6. The inspection control method for multiple inspection robots in a nuclear power plant according to claim 4, characterized in that: When the current inspection point belongs to the second type, the historical inspection capability value of each time is calculated according to each historical inspection data and the corresponding historical actual result, including: If the inspection robot does not have the historical inspection result for the current inspection point, or the historical actual result is not equal to the historical inspection result, then α=0; If the historical actual result is equal to the historical inspection result, then α=1.

7. The inspection control method of multiple inspection robots in a nuclear power plant according to claim 2, characterized in that: The historical inspection data includes historical inspection conditions, historical inspection data and corresponding historical actual results of the inspection robot inspecting the current inspection point multiple times, and the inspection point information includes the current inspection conditions of the current inspection point; The step S22 of using the inspection point information to filter the historical inspection data includes: Filter out the historical inspection results and historical actual results whose historical inspection conditions meet the current inspection conditions; Calculating the inspection matching value according to the screened historical inspection results in step S22 includes: The historical inspection capacity value of each time is calculated based on the filtered historical inspection results and the corresponding historical actual results; The inspection matching value is calculated according to each historical inspection capability value.

8. The inspection control method for multiple inspection robots in a nuclear power plant according to claim 1, characterized in that: Step S23 includes: The inspection robot with the largest inspection matching value is selected as the inspection robot for the current inspection point.

9. A patrol control system for multiple patrol robots in a nuclear power plant, characterized in that: include: A patrol point list determination module, used to determine a patrol point list, wherein the patrol point list includes a plurality of patrol points; The inspection robot allocation module is used to perform the following steps for each inspection point respectively: obtain the inspection point information of the current inspection point and the historical inspection data of each inspection robot for the current inspection point; calculate the inspection matching value of each inspection robot for the current inspection point based on the inspection point information and the historical inspection data; determine the inspection robot of the current inspection point based on all inspection matching values.

10. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 8 are implemented.

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