A method, system, device and medium for disassembly robot deployment control

Abstract

The application discloses a kind of disassembly robot release control method, system, equipment and medium, it is related to robot control technical field, including the following steps: control winch mechanism drives disassembly robot to move from opening to the bottom of storage tank in the state of autorotation;Wherein, disassembly robot is vacuum adsorption wall-climbing robot;Obtain the three-dimensional simulation model inside storage tank;Wherein, three-dimensional simulation model is obtained based on the process that disassembly robot moves from opening to the bottom of storage tank in the state of autorotation scanning construction;According to three-dimensional simulation model, the movement path of disassembly robot is generated along the inner wall of storage tank and executes decommissioning disassembly job;According to the node position of movement path, control winch mechanism is wound on steel wire rope and cable and is wound, the application has the advantage that steel wire rope and cable can be adaptively tightened in time according to planned movement path.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robot control, in particular to a disassembly robot launching control method, system, device and medium. BACKGROUND

[0002] Most of the nuclear facility decommissioning has a deep pit operation decommissioning scene, which needs to launch the decommissioning automation equipment (i.e. disassembly robot) into the closed pit box space to complete the decommissioning disassembly operation. The cutting disassembly, cleaning decontamination, and solid-liquid waste recovery of the facilities in the closed box space need to put the automation special equipment into the box room for operation by the lifting launching device. Therefore, the decommissioning disassembly robot system needs a lifting launching device to launch the robot, and has an emergency rescue capability when needed, which is an important component function of the system.

[0003] At present, the lifting launching device is designed with a winch mechanism. The winch mechanism is used to wind and unwind the steel wire rope to launch the disassembly robot, and can also wind and unwind the cable connected to the disassembly robot to tension it. When the disassembly robot enters the storage tank, due to the complex internal space structure of the storage tank, the inner wall is distributed with several facilities and obstacles that need to be disassembled. The obstacles cannot be disassembled or do not need to be disassembled. The disassembly robot needs to move several times according to the position of the facilities that need to be disassembled during the decommissioning operation. If the steel wire rope and the cable are not tightened in time during the movement, not only is there a risk of contamination of the steel wire rope and the cable by the dirt inside the storage tank, but also there is a problem of interference between the steel wire rope and the cable and the internal facilities of the storage tank. SUMMARY

[0004] The main purpose of the present application is to provide a disassembly robot launching control method, system, device and medium, which aims to solve the technical problem that the steel wire rope and the cable are easily interfered with the internal facilities of the storage tank during the operation of the existing nuclear facility decommissioning disassembly robot.

[0005] To achieve the above-mentioned purpose, the present application provides a disassembly robot launching control method for controlling a launching device. The launching device includes a ring-shaped slide rail arranged at the top opening of a storage tank, a support frame slidingly arranged on the ring-shaped slide rail, a winch mechanism arranged at the top of the support frame, a steel wire rope and a cable wound around the winch mechanism, and the steel wire rope and the cable are used for hoisting and electrically connecting the disassembly robot, respectively.

[0006] The control method includes the following steps:

[0007] The winch mechanism drives the disassembly robot to move from the opening to the bottom of the storage tank in a self-rotating state. The disassembly robot is a vacuum suction wall climbing robot.

[0008] acquire a three-dimensional simulation model of the inside of the storage tank; wherein the three-dimensional simulation model is obtained by scanning and constructing based on the process of the disassembly robot moving from the opening to the bottom of the storage tank in a self-rotating state;

[0009] generate a movement path of the disassembly robot performing the decommissioning and disassembly work along the inner wall of the storage tank according to the three-dimensional simulation model;

[0010] control the winding and unwinding of the steel wire rope and the cable by the hoisting mechanism according to the node positions of the movement path.

[0011] Optionally, the three-dimensional simulation model includes the facilities to be disassembled and obstacles;

[0012] generate a movement path of the disassembly robot performing the decommissioning and disassembly work along the inner wall of the storage tank according to the three-dimensional simulation model, including:

[0013] acquire a starting point position of the movement path according to the three-dimensional simulation model; wherein the starting point position is located at the bottom of the storage tank corresponding to the lowest facility to be disassembled;

[0014] generate the movement path of the disassembly robot according to the starting point position and the relative position information of the facilities to be disassembled and the obstacles.

[0015] Optionally, generate the movement path of the disassembly robot according to the starting point position and the relative position information of the facilities to be disassembled and the obstacles, including:

[0016] divide the three-dimensional simulation model into a plurality of decomposition regions from bottom to top according to a preset height range;

[0017] generate a plurality of sub-movement paths respectively corresponding to different height decomposition regions according to the relative position information of the facilities to be disassembled and the obstacles in each decomposition region; wherein the sub-movement path is an optimal path for the disassembly robot to perform the decommissioning and disassembly work on the facilities to be disassembled located in the same decomposition region in sequence;

[0018] connect the plurality of sub-movement paths end to end to form the movement path of the disassembly robot.

[0019] Optionally, divide the three-dimensional simulation model into a plurality of decomposition regions from bottom to top according to a preset height range, including:

[0020] cut the inner wall of the storage tank in the three-dimensional simulation model along a vertical division line, and expand it to form a rectangular plane; wherein the vertical division line is close to the starting point position, and the rectangular plane is accompanied by the corresponding facilities to be disassembled and obstacles;

[0021] divide the rectangular plane into a plurality of decomposition regions from bottom to top according to a preset height range.

[0022] Optionally, the movement path is composed of a plurality of first path segments, a plurality of second path segments and a plurality of third path segments; wherein the first path segment is a path segment moving vertically upward, the second path segment is a path segment moving horizontally, and the third path segment is a path segment moving vertically downward.

[0023] Optionally, according to the node position of the movement path, the winch mechanism is controlled to wind and unwind the steel wire rope and the cable, comprising:

[0024] When the node position of the movement path is entering the first path segment, the winch mechanism is controlled to wind the steel wire rope and the cable;

[0025] When the node position of the movement path is entering the second path segment, the winch mechanism is kept stationary;

[0026] When the node position of the movement path is entering the third path segment, the winch mechanism is controlled to unwind the steel wire rope and the cable.

[0027] Optionally, according to the relative position information of the facilities and obstacles to be disassembled in each disassembly area, a plurality of sub-movement paths corresponding to different height disassembly areas are generated, comprising:

[0028] The position information of the facilities to be disassembled in the disassembly area is used to generate an initial path of all the facilities to be disassembled in the disassembly area in series;

[0029] It is identified whether there is a target path segment passing through the obstacle in the initial path;

[0030] If not, the initial path is output as a sub-movement path;

[0031] If yes, it is evaluated whether the target path segment meets the preset condition of passing through the obstacle, if yes, the target path segment is identified as a valid path segment, if not, the target path segment is identified as an invalid path segment, and the invalid path segment is changed to a valid path segment bypassing the obstacle; wherein the preset condition is that the disassembly robot has the ability to pass through the obstacle, and the disassembly robot will not interfere with the steel wire rope and the cable when passing through the obstacle.

[0032] To achieve the above-mentioned purpose, the present application also provides a disassembly robot launching control system for controlling a launching device, the launching device comprising a ring-shaped slide rail arranged at the top opening of a storage tank, a support frame being slidably arranged on the ring-shaped slide rail, a winch mechanism being arranged at the top of the support frame, the winch mechanism being wound with a steel wire rope and a cable, the steel wire rope and the cable being respectively used for hoisting and electrically connecting the disassembly robot;

[0033] The control system comprises:

[0034] The first control module is configured to control the hoisting mechanism to drive the disassembly robot to move from the opening to the bottom of the storage tank in a self-rotation state.

[0035] The simulation module is configured to obtain a three-dimensional simulation model of the inside of the storage tank, wherein the three-dimensional simulation model is obtained based on a scanning process of the disassembly robot moving from the opening to the bottom of the storage tank in the self-rotation state.

[0036] The path generation module is configured to generate a movement path of the disassembly robot along the inner wall of the storage tank for performing the decommissioning and disassembly operation according to the three-dimensional simulation model.

[0037] The second control module is configured to control the hoisting mechanism to wind or unwind the steel wire rope and the cable according to the node position of the movement path.

[0038] To achieve the above-mentioned purposes, the present application further provides a computer device, which comprises a memory and a processor, the memory stores a computer program, and the processor executes the computer program to realize the above-mentioned method.

[0039] To achieve the above-mentioned purposes, the present application further provides a computer readable storage medium, which stores a computer program, and the processor executes the computer program to realize the above-mentioned method.

[0040] The beneficial effects that can be achieved by the present application are as follows:

[0041] The present application controls the hoisting mechanism to drive the disassembly robot to move from the opening to the bottom of the storage tank in a self-rotation state. Since the disassembly robot rotates during the movement, the inner wall of the storage tank can be scanned in three dimensions, and a three-dimensional simulation model containing the internal facilities of the storage tank can be finally constructed. According to the three-dimensional simulation model, a movement path of the disassembly robot along the inner wall of the storage tank for performing the decommissioning and disassembly operation can be generated. Since the movement path of the disassembly robot is known in advance, the disassembly robot can be programmed to follow the movement path. Therefore, according to the node position of the movement path, the hoisting mechanism can be controlled to wind or unwind the steel wire rope and the cable when the disassembly robot needs to ascend or descend along the inner wall of the storage tank, thereby effectively reducing the risk of pollution of the steel wire rope and the cable and interference between the steel wire rope and the cable and the internal facilities of the storage tank. BRIEF DESCRIPTION OF DRAWINGS

[0042] In order to more clearly illustrate the technical solutions in the specific embodiments or prior art, the drawings needed to be used in the specific embodiments or prior art description will be briefly introduced below. In all the drawings, similar elements or parts are generally identified by similar reference numerals. In the drawings, each element or part is not necessarily drawn according to the actual scale.

[0043] In order to more clearly illustrate the technical solutions in the specific embodiments or prior art, the drawings needed to be used in the specific embodiments or prior art description will be briefly introduced below. In all the drawings, similar elements or parts are generally identified by similar reference numerals. In the drawings, each element or part is not necessarily drawn according to the actual scale.Fig. 1 Fig. 1 is a flowchart of a method for launching a disassembly robot according to an embodiment of the present application;

[0044] Fig. 2 Fig. 2 is a schematic diagram of a structure for launching a disassembly robot into a storage tank according to an embodiment of the present application (the circular blocks represent disassembly facilities, and the rectangular blocks represent obstacles);

[0045] Fig. 3 Fig. 3 is a schematic diagram of a method for unfolding a three-dimensional simulation model into a two-dimensional rectangular plane and planning a movement path according to an embodiment of the present application (the circular blocks represent disassembly facilities, and the rectangular blocks represent obstacles).

[0046] Reference Signs:

[0047] 110 - launching device, 111 - annular slide rail, 112 - support frame, 113 - hoisting mechanism, 120 - steel wire rope, 130 - cable, 140 - disassembly robot, 150 - storage tank, 160 - disassembly facility, 170 - obstacle, 180 - movement path, 181 - first path segment, 182 - second path segment, 183 - third path segment.

[0048] The implementation, functional features and advantages of the present application will be further described with reference to the embodiments and the accompanying drawings. DETAILED DESCRIPTION

[0049] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, but not all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the scope of protection of the present application.

[0050] It should be noted that if the present application has a description of "first", "second", etc., the description of "first", "second", etc. is only for the purpose of description, and cannot be understood as indicating or implying the relative importance of the indicated technical features or implicitly indicating the number of the indicated technical features. Therefore, the features limited by "first", "second" can explicitly or implicitly include at least one of the features. In addition, the technical solutions of each embodiment can be combined with each other, but it must be based on the fact that a person of ordinary skill in the art can realize it, and when the combination of technical solutions appears to be contradictory or unachievable, it should be considered that the combination of technical solutions does not exist, and is not within the scope of protection claimed by the present application.

[0051] Embodiment 1

[0052] Reference Figs. 1-3The embodiment provides a decommissioning robot launching control method for controlling a launching device 110. The launching device 110 comprises a ring-shaped sliding rail 111 arranged at the top opening of a storage tank 150, a support frame 112 slidingly arranged on the ring-shaped sliding rail 111, a winch mechanism 113 arranged at the top of the support frame 112, and a steel wire rope 120 and a cable 130 wound around the winch mechanism 113, wherein the steel wire rope 120 and the cable 130 are respectively used for hoisting and electrically connecting a decommissioning robot 140;

[0053] The control method comprises the following steps:

[0054] The winch mechanism 113 drives the decommissioning robot 140 to move from the opening to the bottom of the storage tank 150 in a self-rotation state; wherein the decommissioning robot 140 is a vacuum adsorption wall-climbing robot;

[0055] A three-dimensional simulation model of the inside of the storage tank 150 is obtained; wherein the three-dimensional simulation model is obtained based on scanning during the process that the decommissioning robot 140 moves from the opening to the bottom of the storage tank 150 in a self-rotation state;

[0056] According to the three-dimensional simulation model, a movement path 180 of the decommissioning robot 140 performing decommissioning work along the inner wall of the storage tank 150 is generated;

[0057] According to the node positions of the movement path 180, the winch mechanism 113 controls the winding and unwinding of the steel wire rope 120 and the cable 130.

[0058] In the embodiment, the winch mechanism 113 drives the decommissioning robot 140 to move from the opening to the bottom of the storage tank 150 in a self-rotation state. Since the decommissioning robot 140 rotates (by rotating the support frame 112 on the ring-shaped sliding rail 111, so that the decommissioning robot 140 rotates automatically) during the moving process, the inner wall of the storage tank 150 can be scanned (a three-dimensional laser scanner or a CCD camera can be arranged on the decommissioning robot 140), and finally a three-dimensional simulation model containing the internal facilities of the storage tank 150 can be constructed. According to the three-dimensional simulation model, the movement path 180 of the decommissioning robot 140 performing decommissioning work along the inner wall of the storage tank 150 can be generated. Since the movement path 180 of the decommissioning robot 140 is known in advance, the decommissioning robot 140 can be programmed to perform according to the movement path 180. Therefore, according to the node positions of the movement path 180, when the decommissioning robot 140 needs to ascend or descend along the inner wall of the storage tank 150, the winch mechanism 113 can be controlled to wind or unwind the steel wire rope 120 and the cable 130 synchronously, so as to effectively reduce the risk of pollution of the steel wire rope 120 and the cable 130 and interference between the steel wire rope 120 and the cable 130 and the internal facilities of the storage tank 150.

[0059] It should be noted that since the disassembly robot 140 is a vacuum adsorption wall climbing robot, it can move along the inner wall of the storage tank 150 autonomously, and at this time the steel wire rope 120 and the cable 130 need to be wound and unwound according to the movement of the disassembly robot 140.

[0060] As an optional embodiment, the three-dimensional simulation model includes the facilities to be disassembled 160 and the obstacles 170;

[0061] According to the three-dimensional simulation model, the movement path 180 of the disassembly robot 140 performing the decommissioning disassembly operation along the inner wall of the storage tank 150 is generated, including:

[0062] According to the three-dimensional simulation model, the starting point position of the movement path 180 is obtained; wherein the starting point position is located at the inner bottom of the storage tank 150 corresponding to the facility to be disassembled 160 directly below the lowest height;

[0063] According to the starting point position and the relative position information of the facilities to be disassembled 160 and the obstacles 170, the movement path 180 of the disassembly robot 140 is generated.

[0064] In this embodiment, since the inner wall of the storage tank includes the facilities to be disassembled 160 and the obstacles 170, the position of the inner bottom of the storage tank 150 corresponding to the facility to be disassembled 160 directly below the lowest height can be used as the starting point position, that is, the disassembly robot 140 first disassembles the facility to be disassembled 160 with the lowest height, which can reduce the lifting operation frequency of the disassembly robot 140, and based on the starting point position, the relative position information of all the facilities to be disassembled 160 and the obstacles 170 can be combined to generate a whole continuous movement path 180 that can disassemble all the facilities to be disassembled 160.

[0065] As an optional embodiment, according to the starting point position and the relative position information of the facilities to be disassembled 160 and the obstacles 170, the movement path 180 of the disassembly robot 140 is generated, including:

[0066] The three-dimensional simulation model is divided into a plurality of decomposition regions from bottom to top according to a preset height range;

[0067] According to the relative position information of the facilities to be disassembled 160 and the obstacles 170 in each decomposition region, a plurality of sub-movement paths corresponding to different height decomposition regions are generated; wherein the sub-movement path is an optimal path for the disassembly robot 140 to perform decommissioning disassembly operation on the facilities to be disassembled 160 located in the same decomposition region;

[0068] The plurality of sub-movement paths are connected end to end to form the movement path 180 of the disassembly robot 140.

[0069] In the embodiment, the three-dimensional simulation model is divided into a plurality of decomposition regions in sequence from bottom to top according to a preset height range, and a corresponding sub-moving path is generated for each decomposition region, so that the disassembly robot 140 removes the facilities to be disassembled 160 in the decomposition region according to the corresponding sub-moving path in sequence from bottom to top. On the one hand, the disassembly process is performed in sequence from low to high to prevent the facilities to be disassembled 160 at a higher position from colliding with the facilities to be disassembled 160 below during the falling process after being removed, thereby affecting the stability of the storage tank 150, so as to ensure safety. After all the facilities to be disassembled 160 are disassembled, they are stacked at the bottom of the storage tank 150, so as to facilitate subsequent centralized recycling. On the other hand, the risk of deviation between the wire rope 120 and cable 130 winding and unwinding speed and the disassembly robot 140 moving speed is reduced when the disassembly robot 140 moves up and down greatly, so that the disassembly robot 140 always moves up and down in a small range of height, thereby keeping the adaptability of the wire rope 120 and cable 130 winding and unwinding speed and the disassembly robot 140 moving speed in a good state, that is, further reducing the risk of pollution of the wire rope 120 and cable 130 and interference between the wire rope 120 and cable 130 and the internal facilities of the storage tank 150.

[0070] As an optional embodiment, the three-dimensional simulation model is divided into a plurality of decomposition regions in sequence from bottom to top according to a preset height range, including:

[0071] The inner wall of the storage tank 150 in the three-dimensional simulation model is cut along a vertical division line and unfolded to form a rectangular plane; wherein the vertical division line is close to the starting position, and the rectangular plane is accompanied by corresponding facilities to be disassembled 160 and obstacles 170;

[0072] In the rectangular plane, a plurality of decomposition regions are divided in sequence from bottom to top according to a preset height range.

[0073] In the embodiment, the inner wall of the storage tank 150 in the three-dimensional simulation model can be unfolded to form a rectangular plane after being cut along a vertical division line. At this time, the facilities to be disassembled 160 and the obstacles 170 are displayed in the rectangular plane in the form of a plane. Then, a plurality of decomposition regions are divided in the rectangular plane, and corresponding sub-moving paths are generated. On the one hand, the generated moving paths are displayed intuitively, so that the staff can check whether the relative positions between the moving paths and the facilities to be disassembled 160 and the obstacles 170 are reasonable. On the other hand, the decomposition regions divided in the rectangular plane are also planes, which have lower difficulty in path planning than in the three-dimensional space of the inner wall of the storage tank 150, thereby improving the path planning efficiency.

[0074] As an optional implementation, the movement path 180 is composed of a plurality of first path segments 181, a plurality of second path segments 182 and a plurality of third path segments 183; wherein the first path segment 181 is a vertically upward movement path segment, the second path segment 182 is a horizontal movement path segment, and the third path segment 183 is a vertically downward movement path segment.

[0075] In the present embodiment, the movement path 180 is set to be composed of a plurality of vertically upward, horizontal and vertically downward path segments according to the movement direction of the disassembly robot 140, so that the disassembly robot 140 only moves in the vertically upward, horizontal and vertically downward directions at each turning node, which is to consider that if the heights of two adjacent disassembly facilities 160 are different, if the movement path is planned in the shortest straight line segment, the disassembly robot 140 needs to move in an inclined route with a certain slope, and according to the slope, the winding and unwinding speeds of the steel wire rope 120 and the cable 130 also need to be calculated separately to adapt to the vertical speed of the disassembly robot 140 moving in an inclined direction, which increases the calculation difficulty and is prone to adaptation errors. Therefore, the movement path 180 only moves in the horizontal and vertical directions, so that the winding and unwinding speeds of the steel wire rope 120 and the cable 130 can be easily and accurately matched with the vertical movement speed of the disassembly robot 140 based on the movement path 180. In the case of constant movement speed of the disassembly robot 140, the winding and unwinding speeds of the steel wire rope 120 and the cable 130 are also constant each time, so there is no need to calculate and control the winding and unwinding speeds of the steel wire rope 120 and the cable 130 each time, which reduces the matching error, thereby further reducing the risk of pollution of the steel wire rope 120 and the cable 130 and interference between the steel wire rope 120 and the cable 130 and the internal facility of the storage tank 150.

[0076] As an optional implementation, the winding and unwinding of the steel wire rope 120 and the cable 130 by the hoisting mechanism 113 is controlled according to the node position of the movement path 180, including:

[0077] When the node position of the movement path 180 is into the first path segment 181, the winding and unwinding of the steel wire rope 120 and the cable 130 by the hoisting mechanism 113 is controlled;

[0078] When the node position of the movement path 180 is into the second path segment 182, the hoisting mechanism 113 is kept stationary;

[0079] When the node position of the movement path 180 is into the third path segment 183, the winding and unwinding of the steel wire rope 120 and the cable 130 by the hoisting mechanism 113 is controlled.

[0080] In the embodiment, according to the characteristics of the movement path 180, when the disassembly robot 140 needs to perform the first path segment 181 vertically upward, the steel wire rope 120 and the cable 130 are wound at this time to be taut, when the disassembly robot 140 needs to perform the second path segment 182 horizontally, since the inner wall of the storage tank 150 is cylindrical, at this time the steel wire rope 120 and the cable 130 can always remain taut when the disassembly robot 140 moves along the second path segment 182 of the same height based on the inner wall of the storage tank 150, so there is no need to unwind the steel wire rope 120 and the cable 130, when the disassembly robot 140 needs to perform the third path segment 183 vertically downward, the steel wire rope 120 and the cable 130 are unwound to cooperate with the downward movement of the disassembly robot 140.

[0081] It should be noted that the steel wire rope 120 and the cable 130 are in a taut state, and the disassembly robot 140 is working on the inner wall of the storage tank 150, at this time the connection position of the steel wire rope 120 and the cable 130 with the hoisting mechanism 113 and the connection position of the disassembly robot 140 are not in the same vertical plane, at this time the steel wire rope 120 and the cable 130 are arranged obliquely, so they do not interfere with each other in the upper region of the inner wall of the storage tank 150.

[0082] As an optional embodiment, according to the relative position information of the facilities 160 to be disassembled and the obstacles 170 in each disassembly region, a plurality of sub-movement paths corresponding to different height disassembly regions are generated, including:

[0083] The position information of the facilities 160 to be disassembled in the disassembly region is used to generate an initial path for all the facilities 160 to be disassembled in the disassembly region in series;

[0084] It is identified whether there is a target path segment passing through the obstacle 170 in the initial path;

[0085] If not, the initial path is output as a sub-movement path;

[0086] If yes, it is evaluated whether the target path segment meets the preset condition for crossing the obstacle 170, if yes, the target path segment is identified as a valid path segment, if not, the target path segment is identified as an invalid path segment, and the invalid path segment is changed to a valid path segment that bypasses the obstacle 170; wherein the preset condition is that the disassembly robot 140 has the ability to cross the obstacle 170, and the disassembly robot 140 will not interfere with the steel wire rope 120 and the cable 130 when crossing the obstacle 170.

[0087] In the embodiment, based on the position information of the dismantling facilities 160 in the decomposition area, an initial path of all the dismantling facilities 160 in series can be formed first. If there is no target path segment of the obstacle 170 in the initial path, the initial path can be directly output as a sub-moving path. If there is a target path segment of the obstacle 170, it is necessary to evaluate whether the target path segment meets the preset condition of crossing the obstacle 170. If it meets, the target path segment can be identified as a valid path segment without changing. If it does not meet, the target path segment needs to be identified as an invalid path segment, and the invalid path segment is changed to a valid path segment that bypasses the obstacle 170, so as to ensure the effectiveness of the sub-moving path executed by the dismantling robot 140 and shorten the length of the sub-moving path as much as possible to improve the work efficiency.

[0088] It should be noted that whether the dismantling robot 140 has the ability to cross the obstacle 170 and whether the dismantling robot 140 will interfere with the steel wire rope 120 and the cable 130 when crossing the obstacle 170 can be comprehensively evaluated based on the structure of the obstacle 170 and the relative size relationship between the obstacle 170 and the dismantling robot 140.

[0089] Embodiment 2

[0090] Reference Figs. 2-3 Based on the same inventive idea as the foregoing embodiments, the embodiment also provides a dismantling robot launching control system for controlling the launching device 110. The launching device 110 includes a ring-shaped sliding rail 111 arranged at the top opening of the storage tank 150. A support frame 112 is slidingly arranged on the ring-shaped sliding rail 111. A winch mechanism 113 is arranged at the top of the support frame 112. The steel wire rope 120 and the cable 130 are wound around the winch mechanism 113. The steel wire rope 120 and the cable 130 are respectively used for lifting and electrically connecting the dismantling robot 140.

[0091] The control system includes:

[0092] A first control module is configured to control the winch mechanism 113 to drive the dismantling robot 140 to move from the opening to the bottom of the storage tank 150 in a self-rotation state. The dismantling robot 140 is a vacuum adsorption wall-climbing robot.

[0093] A simulation module is configured to obtain a three-dimensional simulation model of the inside of the storage tank 150. The three-dimensional simulation model is obtained by scanning and constructing the process of the dismantling robot 140 moving from the opening to the bottom of the storage tank 150 in a self-rotation state.

[0094] A path generation module is configured to generate a moving path 180 of the dismantling robot 140 performing the decommissioning and dismantling operation along the inner wall of the storage tank 150 according to the three-dimensional simulation model.

[0095] A second control module is configured to control the hoisting mechanism 113 to wind and unwind the steel wire rope 120 and the cable 130 according to the node positions of the movement path 180.

[0096] The related explanations and examples of the modules in the system of the embodiment can refer to the method of the foregoing embodiment, which will not be described here.

[0097] Embodiment 3

[0098] Based on the same inventive concept as the foregoing embodiments, the embodiment provides a computer device, which comprises a memory and a processor, the memory stores a computer program, and the processor executes the computer program to realize the method described above.

[0099] Embodiment 4

[0100] Based on the same inventive concept as the foregoing embodiments, the embodiment provides a computer readable storage medium, which stores a computer program, and the processor executes the computer program to realize the method described above.

[0101] The above is only the preferred embodiment of the present application, and does not limit the patent scope of the present application, and any equivalent structure or equivalent process transformation using the content of the specification and drawings, or direct or indirect application in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A method for controlling the deployment of a deconstruction robot, characterized in that The application relates to a control method for a delivery device, the delivery device comprising a ring-shaped sliding rail arranged at the top opening of a storage tank, a support frame being slidably arranged on the ring-shaped sliding rail, a hoisting mechanism being arranged at the top of the support frame, a steel wire rope and a cable being arranged around the hoisting mechanism, the steel wire rope and the cable being used for hoisting and electrically connecting a disassembly robot respectively. The control method comprises the following steps: controlling the hoisting mechanism to drive the disassembly robot to move from the opening to the bottom of the storage tank in a self-rotating state; wherein the disassembly robot is a vacuum adsorption wall-climbing robot; obtaining a three-dimensional simulation model of the inside of the storage tank; wherein the three-dimensional simulation model is obtained by scanning and constructing during the process that the disassembly robot moves from the opening to the bottom of the storage tank in the self-rotating state; generating a moving path of the disassembly robot for performing a decommissioning and disassembly operation along the inner wall of the storage tank according to the three-dimensional simulation model; controlling the hoisting mechanism to wind and unwind the steel wire rope and the cable according to the node position of the moving path.

2. The disassembly robot release control method according to claim 1, wherein The three-dimensional simulation model comprises facilities to be disassembled and obstacles; The generating of the moving path of the disassembly robot for performing a decommissioning and disassembly operation along the inner wall of the storage tank according to the three-dimensional simulation model comprises: obtaining a starting point position of the moving path according to the three-dimensional simulation model; wherein the starting point position is located at the bottom of the storage tank directly below the facility to be disassembled with the lowest height; generating the moving path of the disassembly robot according to the starting point position and relative position information of the facilities to be disassembled and the obstacles.

3. The disassembly robot release control method according to claim 2, wherein The generating of the moving path of the disassembly robot according to the starting point position and relative position information of the facilities to be disassembled and the obstacles comprises: dividing the three-dimensional simulation model into a plurality of decomposition regions from bottom to top according to a preset height range; generating a plurality of sub-moving paths corresponding to different height decomposition regions respectively according to the relative position information of the facilities to be disassembled and the obstacles in each decomposition region; wherein the sub-moving path is an optimal path for the disassembly robot to perform a decommissioning and disassembly operation on the facilities to be disassembled in the same decomposition region in sequence; connecting the plurality of sub-moving paths in a loop to form the moving path of the disassembly robot.

4. The disassembly robot release control method according to claim 3, wherein The dividing of the three-dimensional simulation model into a plurality of decomposition regions from bottom to top according to a preset height range comprises: cutting the inner wall of the three-dimensional simulation model along a vertical division line and unfolding to form a rectangular plane; wherein the vertical division line is close to the starting point position, and the rectangular plane is accompanied by the corresponding facilities to be disassembled and obstacles; dividing the rectangular plane into a plurality of decomposition regions from bottom to top according to a preset height range.

5. The disassembly robot release control method according to claim 3, wherein The moving path is composed of a plurality of first path segments, a plurality of second path segments and a plurality of third path segments; wherein the first path segment is a vertically upward moving path segment, the second path segment is a horizontally moving path segment, and the third path segment is a vertically downward moving path segment.

6. The disassembly robot release control method according to claim 5, wherein The controlling of the hoisting mechanism to wind and unwind the steel wire rope and the cable according to the node position of the moving path comprises: when the node position of the moving path is entering the first path segment, controlling the hoisting mechanism to wind the steel wire rope and the cable; when the node position of the moving path is entering the second path segment, controlling the hoisting mechanism to remain stationary; when the node position of the moving path is entering the third path segment, controlling the hoisting mechanism to unwind the steel wire rope and the cable.

7. A disassembly robot release control method according to any one of claims 3 to 6, characterized in that, The generating a plurality of sub-movement paths respectively corresponding to different height resolution areas according to the relative position information of the facilities requiring to be disassembled and the obstacles in each resolution area comprises: generating an initial path of all the facilities requiring to be disassembled in the resolution area according to the position information of the facilities requiring to be disassembled in the resolution area; identifying whether there is a target path segment passing through the obstacle in the initial path; if not, outputting the initial path as the sub-movement path; if yes, evaluating whether the target path segment meets a preset condition of passing through the obstacle, if yes, identifying the target path segment as a valid path segment, and if not, identifying the target path segment as an invalid path segment and changing the invalid path segment into a valid path segment bypassing the obstacle; wherein the preset condition is that the disassembly robot has the capability of passing through the obstacle and the disassembly robot will not interfere with the steel wire rope and the cable when passing through the obstacle.

8. A disassembly robot deployment control system characterized by, The control system comprises: a first control module for controlling the winch mechanism to drive the disassembly robot to move from the opening to the bottom of the storage tank in a self-rotation state; wherein the disassembly robot is a vacuum adsorption wall-climbing robot; a simulation module for obtaining a three-dimensional simulation model of the inside of the storage tank; wherein the three-dimensional simulation model is obtained based on scanning during the process of the disassembly robot moving from the opening to the bottom of the storage tank in the self-rotation state; a path generation module for generating a movement path of the disassembly robot performing the decommissioning and disassembly operation along the inner wall of the storage tank according to the three-dimensional simulation model; a second control module for controlling the winch mechanism to wind and unwind the steel wire rope and the cable according to the node positions of the movement path. The computer device comprises a memory and a processor, the memory stores a computer program, and the processor executes the computer program to realize the method of any one of claims 1-7.

9. A computer device, comprising: The computer readable storage medium stores a computer program, and the processor executes the computer program to realize the method of any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, ​

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