Cleaning control system and method of reactor pool cleaning robot and electronic equipment

Abstract

The invention is suitable for the technical field of robots, and provides a cleaning control system and method for a reactor pool cleaning robot and electronic equipment, and the system comprises a map construction module which is used for constructing an environment map according to the environment data of a to-be-cleaned area in a reactor pool, and a global cleaning module which is used for cleaning the to-be-cleaned area in the reactor pool under the condition that a cleaning task is received. The control module is used for receiving a cleaning task, indicating a reactor pool cleaning robot to clean the to-be-cleaned area on the basis of the cleaning task and the environment map to obtain a global cleaning result, and the local cleaning module is used for carrying out local area identification on the to-be-cleaned area according to the environment map and / or the global cleaning result to obtain a local cleaning result. And determining a re-cleaning area according to a local area identification result, and indicating the reactor pool cleaning robot to re-clean the re-cleaning area. The efficiency and the accuracy of the cleaning operation in the reactor pool can be improved.

Description

Technical Field

[0001] The present application belongs to the field of nuclear power base management technology, and in particular, relates to a cleaning control system, method, electronic equipment and computer-readable storage medium of a reactor pool cleaning robot. Background Art

[0002] During the overhaul of a nuclear power plant, it is necessary to clean and decontaminate specific nuclear power equipment or specific nuclear power areas of the nuclear power plant to ensure the long-term safe operation of the nuclear power plant. For example, during the operation of the reactor pool, sediments will gradually accumulate at the bottom of the pool. These sediments are radioactive, and the bottom of the reactor pool needs to be cleaned and decontaminated to avoid the accumulation of sediments, ensure the cleanliness of the reactor pool and the normal operation of other equipment.

[0003] At present, the decontamination and cleaning work of the reactor pool bottom is mainly completed by operators assisting in operating the cleaning equipment. During the actual cleaning process, the operators are easily exposed to radioactive exposure and contamination. At the same time, due to the complex environment of the reactor pool bottom, the operators are unable to complete the cleaning work accurately and efficiently. Summary of the invention

[0004] The embodiments of the present application provide a cleaning control system, method, electronic device and computer-readable storage medium of a reactor pool cleaning robot, which can improve the efficiency and accuracy of cleaning operations in the reactor pool.

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

[0006] A map construction module, used for constructing an environmental map according to environmental data of the area to be cleaned in the reactor pool;

[0007] A global cleaning module, for instructing the reactor pool cleaning robot to clean the area to be cleaned based on the cleaning task and the environment map upon receiving the cleaning task, so as to obtain a global cleaning result;

[0008] The local cleaning module is used to identify the local area of ​​the area to be cleaned according to the environmental map and / or the global cleaning result, determine the re-cleaning area according to the local area identification result, and instruct the reactor pool cleaning robot to re-clean the re-cleaning area.

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

[0010] constructing an environmental map based on environmental data of the area to be cleaned in the reactor pool;

[0011] When receiving a cleaning task, instructing the reactor pool cleaning robot to clean the area to be cleaned based on the cleaning task and the environment map to obtain a global cleaning result;

[0012] The area to be cleaned is locally identified according to the environmental map and / or the global cleaning result, a re-cleaning area is determined according to the local area identification result, and the reactor pool cleaning robot is instructed to re-clean the re-cleaning area.

[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 when the processor executes the computer program, the steps of the cleaning control method of the reactor pool cleaning robot described in the second aspect are implemented.

[0014] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the cleaning control method of the reactor pool cleaning robot described in the second aspect are implemented.

[0015] In a fifth aspect, an embodiment of the present application provides a computer program product. When the computer program product is run on an electronic device, the electronic device executes the cleaning control method of the reactor pool cleaning robot described in the second aspect above.

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

[0017] In the embodiment of the present application, an environmental map is constructed according to the environmental data of the area to be cleaned in the reactor pool by a map construction module. At the same time, when a cleaning task is received by the global cleaning module, the reactor pool cleaning robot is instructed to clean the area to be cleaned based on the cleaning task and the above-mentioned environmental map to obtain a global cleaning result. Since the reactor pool cleaning robot replaces manual cleaning operations, it is possible to avoid radioactive exposure and contamination of operators, thereby improving the safety and efficiency of the cleaning operation. In addition, the local cleaning module is used to identify the area to be cleaned according to the environmental map and / or the global cleaning result, and the re-cleaning area is determined according to the local area identification result, and the above-mentioned reactor pool cleaning robot is instructed to re-clean the re-cleaning area, which means that a specific cleaning area (i.e., the re-cleaning area) in the area to be cleaned can be re-cleaned on the basis of global cleaning, further improving the accuracy of the reactor pool cleaning operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0019] Figure 1 This is a functional architecture diagram of a cleaning control system of a reactor pool cleaning robot provided in one embodiment of the present application;

[0020] Figure 2 It is a flow chart of a cleaning control method of a reactor pool cleaning robot provided in an embodiment of the present application;

[0021] Figure 3 It is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0022] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application may also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present application.

[0023] It should be understood that when used in the present specification and the appended claims, the term "comprising" indicates the presence of described features, wholes, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or combinations thereof.

[0024] It should also be understood that the term “and / or” used in the specification and appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0025] As used in the specification and appended claims of this application, the term "if" can be interpreted as "when" or "uponce" or "in response to determining" or "in response to detecting", depending on the context. Similarly, the phrase "if it is determined" or "if [described condition or event] is detected" can be interpreted as meaning "uponce it is determined" or "in response to determining" or "uponce [described condition or event] is detected" or "in response to detecting [described condition or event]", depending on the context.

[0026] In addition, in the description of the present application specification and the appended claims, the terms "first", "second", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.

[0027] References to "one embodiment" or "some embodiments" etc. described in the specification of this application mean that one or more embodiments of the present application include specific features, structures or characteristics described in conjunction with the embodiment. Therefore, the statements "in one embodiment", "in some embodiments", "in some other embodiments", "in some other embodiments", etc. that appear in different places in this specification do not necessarily refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways. The terms "including", "comprising", "having" and their variations all mean "including but not limited to", unless otherwise specifically emphasized in other ways.

[0028] When a nuclear power plant is in operation, various nuclear wastes may be generated. These nuclear wastes are often radioactive and will affect the normal operation of the nuclear power plant and the safety of nuclear power workers after a long period of accumulation, such as sediments accumulated at the bottom of the reactor pool. Therefore, during the overhaul of a nuclear power plant, in order to ensure the safe operation of the nuclear power plant, it is necessary to clean and decontaminate specific nuclear power equipment or specific nuclear power areas.

[0029] At present, the cleaning task of the reactor pool bottom of a nuclear power plant is mainly completed by operators assisting in the operation of cleaning equipment. For example, operators operate high-pressure water guns, cleaning brushes, cleaning machines and other cleaning equipment to clean and decontaminate the sediments at the bottom of the reactor pool. However, due to the low level of intelligence of these cleaning equipment, in the actual cleaning process, the cleaning task is mainly completed through the manual participation of operators, which makes the operators vulnerable to radioactive exposure and contamination. In addition, due to the complex environment of the reactor pool bottom, which usually includes diverse terrain structures and complex pipeline obstacles, it is difficult to accurately and efficiently clean the nuclear power equipment and areas therein during manual cleaning.

[0030] Therefore, the above method will result in low efficiency and accuracy of the cleaning operation in the reactor pool, which is difficult to meet the decontamination work of the nuclear power plant.

[0031] In order to improve the efficiency of emergency response in nuclear power bases, the present application provides a cleaning control system for a reactor pool cleaning robot. In the system, an environmental map is constructed according to environmental data of the area to be cleaned in the reactor pool by a map construction module, and then the global cleaning module, upon receiving a cleaning task, instructs the reactor pool cleaning robot to clean the area to be cleaned based on the cleaning task and the environmental map to obtain a global cleaning result, and the local cleaning module identifies the area to be cleaned locally according to the environmental map and / or the global cleaning result, determines a re-cleaning area according to the local area identification result, and instructs the reactor pool cleaning robot to re-clean the re-cleaning area.

[0032] The cleaning control system of the reactor pool cleaning robot provided in the embodiment of the present application is described below in conjunction with the accompanying drawings.

[0033] Figure 1 The functional architecture diagram of a cleaning control system of a reactor pool cleaning robot provided in an embodiment of the present application is shown. In this embodiment, the cleaning control system can be applied to a server, as detailed below:

[0034] The cleaning control system 1 of the reactor pool cleaning robot comprises: a map building module 11, a global cleaning module 12 and a local cleaning module 13, wherein:

[0035] The map construction module 11 is used to construct an environmental map according to the environmental data of the area to be cleaned in the reactor pool.

[0036] The above-mentioned area to be cleaned refers to the area in the nuclear power plant that needs to be cleaned. For example, the above-mentioned area to be cleaned may be a reactor pool or a certain area of ​​the reactor pool. The above-mentioned environmental data may be pre-collected map information, including terrain information, pipeline information, path information, etc. of the area to be cleaned. In addition, the above-mentioned environmental data may also include data collected by sensors, such as image data collected by a camera, laser data collected by a laser sensor, ultrasonic ranging data collected by an ultrasonic rangefinder, etc. The above-mentioned environmental map is a map used to reflect the environment of the area to be cleaned. The above-mentioned environmental map may be one or more of the following: a point cloud map, a grid map, a feature map, etc.

[0037] Specifically, before cleaning the area to be cleaned, environmental data of the area to be cleaned may be collected first, and then an environmental map may be constructed using a preset map construction algorithm, wherein the environmental map may indicate obstacle areas, walkable areas, etc. in the area to be cleaned. Optionally, the preset map construction algorithm may be a Simultaneous Localization and Mapping (SLAM) algorithm.

[0038] In the embodiment of the present application, the map construction module can construct an environmental map based on the environmental data of the area to be cleaned, thereby improving the accuracy of subsequent cleaning operations of the reactor pool cleaning robot.

[0039] The global cleaning module 12 is used to instruct the reactor pool cleaning robot to clean the area to be cleaned based on the cleaning task and the environmental map upon receiving the cleaning task, so as to obtain a global cleaning result.

[0040] The cleaning task may include motion instructions for controlling the movement of the reactor pool cleaning robot, such as the movement path, starting position and end position, and expected movement information of the reactor pool cleaning robot (i.e., the movement state that the reactor pool cleaning robot expects to achieve when performing the cleaning task, including one or more of the following: expected position, expected speed, expected posture, etc.). Of course, the cleaning task may also include the cleaning time, cleaning mode, cleaning intensity, etc. of the reactor pool cleaning robot during the cleaning operation, which are not limited here.

[0041] Specifically, after the reactor pool cleaning robot is placed in the area to be cleaned, the user can input the cleaning task through the human-computer interaction interface, and the server can perform path planning based on the motion path, starting position, and end position in the cleaning task, as well as information such as obstacle areas and walkable areas in the environmental map, and navigate the reactor pool cleaning robot through the planned path. During the navigation process, the movement process of the reactor pool cleaning robot can be controlled by the expected motion information in the cleaning task. At the same time, during the navigation process, the cleaning operation can be performed synchronously, and the cleaning results can be recorded in real time to obtain the above-mentioned global cleaning results. Among them, the above-mentioned global cleaning results can include information such as the recorded cleaning time and the amount of radiation after cleaning.

[0042] In the embodiment of the present application, path planning is performed through cleaning tasks and environmental maps, which can improve the accuracy of path planning. In addition, the cleaning operation is started synchronously during the navigation process of the reactor pool cleaning robot, so that the cleaning area can be cleaned globally, thereby improving the efficiency of the nuclear power plant cleaning task.

[0043] The local cleaning module 13 is used to identify the local area of ​​the area to be cleaned according to the environmental map and / or the global cleaning result, determine the re-cleaning area according to the local area identification result, and instruct the reactor pool cleaning robot to re-clean the re-cleaning area.

[0044] The heavy cleaning area refers to an area in the area to be cleaned that needs to be cleaned repeatedly.

[0045] Specifically, the local area that needs to be repeatedly cleaned can be determined from the area to be cleaned by manual selection or algorithm recognition to obtain the above-mentioned heavy cleaning area, and / or, based on the above-mentioned global cleaning result, the local area with a shorter cleaning time or a higher radiation amount after cleaning is determined as the above-mentioned heavy cleaning area. Then, the path planning of the reactor pool cleaning robot is re-performed, and the reactor pool cleaning robot is navigated to the above-mentioned heavy cleaning area according to the path planning result, and the above-mentioned reactor pool cleaning robot is controlled to perform cleaning operations on the heavy cleaning area.

[0046] It should be noted that after the reactor pool cleaning robot recleans the above-mentioned recleaning area, the recleaning results (for example, the cleaning time of the recleaning area, the amount of radiation after cleaning, etc.) can be used to update the global cleaning results, and the above-mentioned area to be cleaned can continue to be locally identified according to the environmental map and / or the updated global cleaning results, and a new recleaning area is obtained and recleaned, and the above process is repeated multiple times until the preset cleaning requirements are met, for example, the number of recleanings meets the preset cleaning number, the time of recleaning meets the preset cleaning time, etc.

[0047] In an embodiment of the present application, a re-cleaning area in the area to be cleaned is determined through an environmental map and / or a global cleaning result, and the re-cleaning area is re-cleaned. The cleaning operation can be repeated on a specific area based on the global cleaning, thereby improving the accuracy of nuclear power plant cleaning.

[0048] In the embodiment of the present application, an environmental map is constructed according to the environmental data of the area to be cleaned in the nuclear power plant through a map construction module. At the same time, when a cleaning task is received through the global cleaning module, the reactor pool cleaning robot is instructed to clean the area to be cleaned based on the cleaning task and the above-mentioned environmental map to obtain a global cleaning result. Since the reactor pool cleaning robot replaces manual cleaning operations, it is possible to avoid radioactive exposure and contamination of operators, thereby improving the safety and efficiency of the cleaning operation. In addition, the local cleaning module is used to identify the area to be cleaned according to the environmental map and / or the global cleaning result, and the re-cleaning area is determined according to the local area identification result, and the above-mentioned reactor pool cleaning robot is instructed to re-clean the re-cleaning area, which means that a specific cleaning area (i.e., the re-cleaning area) in the area to be cleaned can be re-cleaned on the basis of global cleaning, further improving the accuracy of the cleaning operation of the nuclear power plant.

[0049] In some embodiments, when the map construction module constructs the environmental map according to the environmental data of the area to be cleaned in the reactor pool, it includes:

[0050] A data acquisition submodule, used for acquiring the environmental data in the area to be cleaned collected by the environmental monitoring equipment of the area to be cleaned and / or the reactor pool cleaning robot, wherein the environmental data at least includes visual data and laser data;

[0051] The map construction submodule is used to construct the above-mentioned environment map based on the above-mentioned visual data and the above-mentioned laser data.

[0052] The above-mentioned environmental monitoring equipment may include: laser radar (such as 16-line laser radar, etc.) and camera (such as pan-tilt camera, panoramic camera, etc.). In addition, it may also include inertial measurement unit (IMU), wheel odometer, ultrasonic ranging sensor, etc. installed on the reactor pool cleaning robot.

[0053] Specifically, in order to improve the accuracy of the constructed environmental map, the data acquisition submodule can obtain laser data (for example, three-dimensional point cloud data) and visual data collected by the lidar and camera respectively, and then the map construction submodule can use a preset map construction algorithm (for example, a SLAM algorithm) and the above-mentioned laser data to construct the environmental map. During the mapping process, the map construction submodule can use visual data to identify obstacles in the area to be cleaned, and use the identified obstacles to supplement or calibrate the environmental map, thereby improving the environmental map.

[0054] In the embodiment of the present application, since the laser data is point cloud information, a point set with location information is obtained, which may not be able to accurately identify obstacles in the area to be cleaned, while the visual data can accurately determine the obstacles in the area to be cleaned. Therefore, by combining laser data and visual data to construct an environmental map, the accuracy of environmental map construction can be improved.

[0055] In some embodiments, when the map construction submodule constructs the environment map according to the visual data and the laser data, it includes:

[0056] An initial map construction submodule is used to construct an initial map based on the above laser data;

[0057] An obstacle recognition submodule, used to recognize obstacles from the visual data using a preset obstacle recognition model;

[0058] The map adjustment submodule is used to adjust the initial map using the identified obstacles to obtain the environment map.

[0059] Among them, the above-mentioned preset obstacle recognition model can be obtained in advance through training of environmental images of the reactor pool bottom containing dynamic and static obstacles (such as pipelines, test equipment, etc.). The above-mentioned preset obstacle recognition model can be a target detection model, for example, one of the YOLO recognition model, SSD model, etc.

[0060] Specifically, in the process of environmental map construction, the initial map construction submodule can first construct an initial map based on the above-mentioned laser data and SLAM algorithm, and then pass the collected visual data into a preset obstacle recognition model to obtain identified obstacles. The map adjustment submodule can convert the identified obstacles into obstacle point sets and add them to the laser data for environmental map construction, and / or mark the identified obstacles in the initial map, and calibrate and improve the identified obstacle areas in the initial map according to the marked obstacle areas to obtain the above-mentioned environmental map.

[0061] In an embodiment of the present application, after constructing an initial map using laser data, the initial map is supplemented and improved by using obstacles identified from visual data using a preset obstacle recognition model, thereby improving the accuracy of environmental map construction.

[0062] In some embodiments, when the global cleaning module instructs the reactor pool cleaning robot to clean the area to be cleaned based on the cleaning task and the environment map to obtain a global cleaning result, it includes:

[0063] A first path planning submodule, used for performing path planning according to the cleaning task and the environment map to obtain a first motion path;

[0064] A global cleaning submodule, used for navigating the reactor pool cleaning robot according to the first motion path, and controlling the reactor pool cleaning robot to perform cleaning operations during the navigation movement;

[0065] The cleaning recording submodule is used to record the real-time cleaning results during the above-mentioned navigation movement to obtain the above-mentioned global cleaning results, wherein the above-mentioned global cleaning results at least include the regional radiation dose.

[0066] Specifically, during global cleaning, the first path planning submodule can perform global path planning according to the cleaning task and the environmental map to obtain a first motion path, wherein the global path planning is used to construct a first motion path from the starting position to the end position according to information such as the starting position and the end position in the cleaning task; the global cleaning submodule is used to navigate the reactor pool cleaning robot according to the first motion path, and control the water gun valve block and / or foam valve block of the reactor pool cleaning robot to perform cleaning operations during the navigation movement; the cleaning recording submodule can record the time of the cleaning operation, and record the regional radiation dose after the cleaning operation through the radiation measurement device to obtain the above-mentioned global cleaning result. Optionally, the above-mentioned global path planning can obtain the first motion path through a preset global path planning algorithm, and the above-mentioned preset global path planning algorithm can be a Dijkstra algorithm or an A* algorithm, etc.

[0067] In the embodiment of the present application, by planning the first motion path for navigation movement, and controlling the reactor pool cleaning robot to perform cleaning operations during the navigation movement of the reactor pool cleaning robot, the reactor pool cleaning robot can perform global cleaning of the area to be cleaned, thereby preventing the operators from being exposed to radioactive exposure and contamination during the cleaning process, and improving the efficiency of the nuclear power plant cleaning work. In addition, the global cleaning results are recorded in real time during the cleaning process, which is convenient for adjusting the nuclear power plant cleaning later.

[0068] In some embodiments, the reactor pool cleaning robot includes a mechanical arm, which may be a multi-joint mechanical arm, and a water gun valve block (such as a high-pressure water gun) and a foam valve block (such as a foam gun) may be installed at the end of the mechanical arm. The global cleaning submodule navigates the reactor pool cleaning robot according to the first motion path, and controls the reactor pool cleaning robot to perform cleaning operations during the navigation motion, including:

[0069] A chassis driving submodule, used for controlling the reactor pool cleaning robot to perform navigation motion according to the first motion path through a composite control method; the composite control method includes feedforward control and feedback control;

[0070] A path adjustment submodule, used for adjusting the first motion path according to real-time environmental data;

[0071] The robot arm driving submodule is used to adjust the posture of the robot arm of the reactor pool cleaning robot when the reactor pool cleaning robot moves along the adjusted first motion path, and to clean the pool wall or pool bottom of the reactor pool according to the adjusted robot arm.

[0072] Specifically, after determining the first motion path, the chassis driving submodule can control the reactor pool cleaning robot to navigate along the first motion path by combining feedforward control and feedback control, wherein the feedforward control can predict the future motion state of the reactor pool cleaning robot according to the expected motion information in the cleaning task and a preset physical model (such as a kinematic model). During the prediction process, the feedforward control will take into account various interferences that the reactor pool cleaning robot may encounter, and then determine the compensation amount based on these interferences. The compensation amount is integrated into the actual motion of the reactor pool cleaning robot by adjusting motion parameters (such as speed, acceleration and other motion parameters), thereby offsetting such interference and obtaining the actual motion information of the reactor pool cleaning robot. Then, during the motion of the reactor pool cleaning robot, the feedback control will continuously obtain real-time actual motion information and compare it with the expected motion information. When the comparison result exceeds the preset requirement, the feedback control will be used to obtain the actual motion information. The above-mentioned actual motion information is corrected and adjusted in a feedback gain manner, thereby further reducing the degree of deviation between the actual motion information and the expected motion information, and improving the accuracy and stability of the motion control of the reactor pool cleaning robot; the above-mentioned path adjustment submodule can obtain real-time environmental data (such as real-time obstacle information, etc.) during the navigation movement of the reactor pool cleaning robot, and then perform local path planning according to the real-time environmental data, and adjust the above-mentioned first motion path according to the local path planning result, thereby adjusting the motion path of the reactor pool cleaning robot in real time to avoid collision; the above-mentioned mechanical arm driving submodule adjusts the posture of the mechanical arm by adjusting different joints of the mechanical arm during the movement of the reactor pool cleaning robot according to the adjusted first motion path, and then after the mechanical arm is adjusted to the specified posture, the water gun valve block (such as a high-pressure water gun) and the foam valve block (such as a foam gun) at the end of the mechanical arm are opened or closed to clean the pool wall or pool bottom of the reactor pool.

[0073] It should be understood that the above-mentioned feedforward control may include at least one of the following when compensating for the actual movement of the reactor pool cleaning robot: speed gain compensation, acceleration gain compensation, and friction gain compensation. For example, during speed gain compensation, the feedforward control will calculate the speed amount that needs to be compensated and integrate it into the actual movement of the robot. The above-mentioned feedback gain can be achieved by a feedback filter. For example, the above-mentioned feedback filter can be a proportional-integral-derivative control (Proportional-Integral-Derivative Control, PID) feedback filter. The above-mentioned local path planning can be performed by a preset local path planning algorithm to perform local adjustments to the path. The above-mentioned preset local path planning algorithm can be one of the dynamic window approach (Dynamic Window Approach, DWA), time elastic band algorithm (Time Elastic Band, TEB), genetic algorithm, etc., which is not limited here.

[0074] In some embodiments, the local cleaning module identifies the local area of ​​the area to be cleaned according to the environmental map and / or the global cleaning result, determines the re-cleaning area according to the local area identification result, and instructs the reactor pool cleaning robot to re-clean the re-cleaning area, including:

[0075] A map updating submodule is used to update the above environment map according to real-time environment data to obtain a new environment map;

[0076] A region identification submodule, used for identifying the heavy cleaning region from the new environment map using a preset region identification model, and / or determining the heavy cleaning region from the new environment map according to the radiation dose of the region;

[0077] A second path planning submodule, configured to perform path planning according to the re-cleaning area and the new environment map to obtain a second motion path;

[0078] The local cleaning submodule is used to navigate the reactor pool cleaning robot according to the second motion path, and control the reactor pool cleaning robot to perform cleaning operations after navigating to the heavy cleaning area.

[0079] Among them, the above-mentioned preset area recognition model can be obtained in advance through training of environmental images of the reactor pool bottom containing areas of interest (for example, manually marked key areas or high radiation areas, etc.), and the above-mentioned preset obstacle recognition model can also be a target detection model, for example, one of the YOLO recognition model, SSD model, etc.

[0080] Specifically, the map updating submodule can obtain real-time environmental data according to sensors (such as a pan-tilt camera, a laser radar, etc.) installed on the reactor pool cleaning robot. The real-time environmental data at least includes real-time visual data. The real-time environmental data is used to continuously supplement and improve the environmental map to obtain a new environmental map; the area recognition submodule can input the new environmental map and the real-time visual data into a preset area recognition model to obtain an area of ​​interest and an interest value corresponding to the area of ​​interest, and determine the area of ​​interest whose interest value is greater than or equal to a preset interest threshold as the above-mentioned heavy cleaning area, and / or, the area recognition submodule can determine the area in the new environmental map where the regional radiation dose is greater than a preset radiation dose threshold as the above-mentioned heavy cleaning area; after determining the heavy cleaning area, the second path planning submodule can use the above-mentioned heavy cleaning area as the end position, and the current position of the reactor pool cleaning robot as the starting position, and then perform path planning according to the new environmental map to obtain a second motion path; the local cleaning submodule navigates the reactor pool cleaning robot according to the second motion path, and controls the reactor pool cleaning robot to perform cleaning operations after navigating to the above-mentioned heavy cleaning area.

[0081] It should be understood that the second path planning process can refer to the planning process of the first motion path in the above embodiment, and the cleaning operation process of the local cleaning submodule can refer to the cleaning operation process of the global cleaning submodule in the above embodiment, which will not be repeated here.

[0082] In an embodiment of the present application, after global cleaning, the re-cleaning area is determined from a new environmental map based on a preset regional identification model and / or regional radiation dose, and the area that needs repeated cleaning can be further determined, thereby improving the accuracy of the nuclear power plant cleaning operation.

[0083] In some embodiments, since obstacles may temporarily appear in the area to be cleaned, such as a worker who suddenly appears or a moving detection device, the cleaning control system further includes:

[0084] The obstacle monitoring module is used to detect obstacles in the above-mentioned area to be cleaned and / or the above-mentioned heavy cleaning area in real time, and to suspend the cleaning task of the above-mentioned reactor pool cleaning robot when it is detected that the distance between the obstacle and the above-mentioned reactor pool cleaning robot is less than a preset safety distance.

[0085] Specifically, during the movement of the reactor pool cleaning robot, the ultrasonic ranging data released by the ultrasonic rangefinder can be obtained in real time, and the distance between the reactor pool cleaning robot and obstacles in the area to be cleaned and / or the heavy cleaning area can be detected in real time based on the ultrasonic ranging data to see if it is less than the preset safety distance. If it is not less than, the cleaning task can continue; if it is less than, the cleaning task of the reactor pool cleaning robot can be paused, and an alarm can be issued to prompt the operator to manually adjust the position of the reactor pool cleaning robot. Optionally, the ultrasonic rangefinder can be installed on the bottom of the reactor pool and / or the decontamination robot. The above alarm can include: one or more of voice reminders, text reminders, etc. Of course, alarm prompts can also be issued through other devices, such as alarms through sound and light alarms, etc., which are not limited here.

[0086] In the embodiment of the present application, obstacles in the area to be cleaned and / or the heavy cleaning area are detected in real time through ultrasonic ranging data, which can avoid collisions of the reactor pool cleaning robot during movement and cleaning operations, thereby improving the safety of nuclear power plant cleaning operations.

[0087] Corresponding to the cleaning control system of the reactor pool cleaning robot described in the above embodiment, Figure 2 A schematic flow chart of a cleaning control method of a reactor pool cleaning robot provided in an embodiment of the present application is shown. The alarm receiving method can be applied in a server, as described in detail as follows:

[0088] S21, constructing an environmental map according to the environmental data of the area to be cleaned in the reactor pool;

[0089] S22, when receiving a cleaning task, instructing the reactor pool cleaning robot to clean the area to be cleaned based on the cleaning task and the environmental map to obtain a global cleaning result;

[0090] S23, performing local area identification on the area to be cleaned according to the environmental map and / or the global cleaning result, determining a re-cleaning area according to the local area identification result, and instructing the reactor pool cleaning robot to re-clean the re-cleaning area.

[0091] In the embodiment of the present application, an environmental map is constructed by using the environmental data of the area to be cleaned in the reactor pool, and when a cleaning task is received, the reactor pool cleaning robot is instructed to clean the area to be cleaned based on the cleaning task and the above environmental map to obtain a global cleaning result. Since the reactor pool cleaning robot replaces manual cleaning operations, it is possible to avoid radioactive exposure and contamination of operators, thereby improving the safety and efficiency of the cleaning operation. In addition, the area to be cleaned is identified locally based on the environmental map and / or the global cleaning result, and the re-cleaning area is determined based on the local area identification result, and the above reactor pool cleaning robot is instructed to re-clean the re-cleaning area, which means that a specific cleaning area (i.e., the re-cleaning area) in the area to be cleaned can be re-cleaned on the basis of global cleaning, further improving the accuracy of the reactor pool cleaning operation.

[0092] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0093] Figure 3 This is a schematic diagram of the structure of an electronic device provided by an embodiment of the present application. Figure 3 As shown, the electronic device 3 of this embodiment includes: at least one processor 30 ( Figure 3 The at least one processor 30 includes a memory 31 and a computer program 32 stored in the memory 31 and executable on the at least one processor 30. When the processor 30 executes the computer program 32, the steps in any of the method embodiments are implemented.

[0094] The electronic device 3 may be a computing device such as a desktop computer, a notebook, a PDA, or a cloud server. The electronic device may include, but is not limited to, a processor 30 and a memory 31. Those skilled in the art will appreciate that Figure 3 It is only an example of the electronic device 3 and does not constitute a limitation of the electronic device 3. It may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, the electronic device may also include an input sending device, a network access device, a bus, etc.

[0095] The processor 30 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc.

[0096] In some embodiments, the memory 31 may be an internal storage unit of the electronic device 3, such as a hard disk or memory of the electronic device 3. The memory 31 may also be an external storage device of the electronic device 3, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), etc. equipped on the electronic device 3. Further, the memory 31 may also include both an internal storage unit of the electronic device 3 and an external storage device. The memory 31 is used to store an operating system, an application program, a boot loader (BootLoader), data, and other programs, such as the program code of the computer program, etc. The memory 31 may also be used to temporarily store data that has been sent or is to be sent.

[0097] The technicians in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the functional units and modules is used as an example. In practical applications, the function allocation can be completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated into a processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the system can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.

[0098] An embodiment of the present application also provides a network device, which includes: at least one processor, a memory, and a computer program stored in the memory and executable on the at least one processor, wherein the processor implements the steps in any of the method embodiments when executing the computer program.

[0099] An embodiment of the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps in the various method embodiments can be implemented.

[0100] An embodiment of the present application provides a computer program product. When the computer program product runs on an electronic device, the electronic device can implement the steps in the various method embodiments when executing the computer program product.

[0101] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the process in the embodiment method, which can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a computer-readable storage medium. When the computer program is executed by the processor, the steps of the various method embodiments can be implemented. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may at least include: any entity or device that can carry the computer program code to the camera / electronic device, recording medium, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, RandomAccess Memory), electric carrier signal, telecommunication signal and software distribution medium. For example, a USB flash drive, a mobile hard disk, a magnetic disk or an optical disk. In some jurisdictions, according to legislation and patent practice, computer-readable media cannot be electric carrier signals and telecommunication signals.

[0102] In the embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0103] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0104] In the embodiments provided in the present application, it should be understood that the disclosed devices / network equipment and methods can be implemented in other ways. For example, the device / network equipment embodiments described above are merely schematic. For example, the division of the modules or units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0105] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0106] The embodiments described above are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, a person skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A cleaning control system for a reactor pool cleaning robot, characterized in that: include: A map construction module, used for constructing an environmental map according to environmental data of the area to be cleaned in the reactor pool; A global cleaning module, for instructing the reactor pool cleaning robot to clean the area to be cleaned based on the cleaning task and the environment map upon receiving the cleaning task, so as to obtain a global cleaning result; The local cleaning module is used to identify the local area of ​​the area to be cleaned according to the environmental map and / or the global cleaning result, determine the re-cleaning area according to the local area identification result, and instruct the reactor pool cleaning robot to re-clean the re-cleaning area.

2. The cleaning control system of the reactor pool cleaning robot according to claim 1, characterized in that: When the map construction module constructs the environmental map according to the environmental data of the area to be cleaned in the reactor pool, it includes: A data acquisition submodule, used for acquiring the environmental data in the area to be cleaned collected by the environmental monitoring equipment of the area to be cleaned and / or the reactor pool cleaning robot, wherein the environmental data at least includes visual data and laser data; A map construction submodule is used to construct the environment map according to the visual data and the laser data.

3. The cleaning control system of the reactor pool cleaning robot according to claim 2, characterized in that: When the map construction submodule constructs the environment map according to the visual data and the laser data, the map construction submodule includes: An initial map construction submodule, used to construct an initial map according to the laser data; An obstacle recognition submodule, used to recognize obstacles from the visual data using a preset obstacle recognition model; The map adjustment submodule is used to adjust the initial map using the identified obstacles to obtain the environment map.

4. The cleaning control system of the reactor pool cleaning robot according to any one of claims 1 to 3, characterized in that: When the global cleaning module instructs the reactor pool cleaning robot to clean the area to be cleaned based on the cleaning task and the environment map to obtain a global cleaning result, it includes: A first path planning submodule, configured to perform path planning according to the cleaning task and the environment map to obtain a first motion path; A global cleaning submodule, used for navigating the reactor pool cleaning robot according to the first motion path, and controlling the reactor pool cleaning robot to perform cleaning operations during the navigation movement; The cleaning recording submodule is used to record the real-time cleaning results during the navigation movement to obtain the global cleaning results, wherein the global cleaning results at least include the regional radiation dose.

5. The cleaning control system of the reactor pool cleaning robot according to claim 4, characterized in that: The reactor pool cleaning robot includes a mechanical arm, and the global cleaning submodule navigates the reactor pool cleaning robot according to the first motion path and controls the reactor pool cleaning robot to perform a cleaning operation during the navigation movement, including: A chassis driving submodule, used for controlling the reactor pool cleaning robot to perform navigation motion according to the first motion path through a composite control method; the composite control method includes feedforward control and feedback control; A path adjustment submodule, used for adjusting the first motion path according to real-time environmental data; The robot arm driving submodule is used to adjust the posture of the robot arm of the reactor pool cleaning robot when the reactor pool cleaning robot moves along the adjusted first motion path, and to clean the pool wall or pool bottom of the reactor pool according to the adjusted robot arm.

6. The cleaning control system of the reactor pool cleaning robot according to claim 4, characterized in that: The local cleaning module identifies the local area of ​​the area to be cleaned according to the environmental map and / or the global cleaning result, determines the re-cleaning area according to the local area identification result, and instructs the reactor pool cleaning robot to re-clean the re-cleaning area, including: A map updating submodule, used to update the environment map according to real-time environment data to obtain a new environment map; A region identification submodule, configured to identify the heavy cleaning region from the new environment map using a preset region identification model, and / or to determine the heavy cleaning region from the new environment map according to the regional radiation dose; A second path planning submodule, configured to perform path planning according to the re-cleaning area and the new environment map to obtain a second motion path; The local cleaning submodule is used to navigate the reactor pool cleaning robot according to the second motion path, and control the reactor pool cleaning robot to perform cleaning operations after navigating to the heavy cleaning area.

7. The cleaning control system of the reactor pool cleaning robot according to any one of claims 1 to 3, characterized in that: Also includes: The obstacle monitoring module is used to detect obstacles in the area to be cleaned and / or the heavy cleaning area in real time, and to suspend the cleaning task of the reactor pool cleaning robot when it is detected that the distance between the obstacle and the reactor pool cleaning robot is less than a preset safety distance.

8. A cleaning control method for a reactor pool cleaning robot, characterized in that: include: constructing an environmental map based on environmental data of the area to be cleaned in the reactor pool; When receiving a cleaning task, instructing the reactor pool cleaning robot to clean the area to be cleaned based on the cleaning task and the environment map to obtain a global cleaning result; The area to be cleaned is locally identified according to the environmental map and / or the global cleaning result, a re-cleaning area is determined according to the local area identification result, and the reactor pool cleaning robot is instructed to re-clean the re-cleaning area.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the method according to claim 8 is implemented.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the method according to claim 8 is implemented.

11. A computer program product, characterized in that The method comprises a computer program, which implements the method according to claim 8 when the computer program is executed.

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