A laser shock peening in-situ adaptive control method suitable for nuclear power underwater environment

Abstract

The application discloses a laser shock peening in-situ adaptive control method and system suitable for a nuclear power underwater environment, and comprises the following steps: collecting water quality data by integrating a sensor at the front end of a laser impact head; inputting the water quality data into a pre-trained process model to automatically select laser wavelength, pulse energy, pulse width and water constraint layer jet flow rate; arranging a hydrophone array around the impact point to monitor the shock wave pressure peak value, and adjusting the laser energy or the water constraint layer parameter if the pressure deviates from the set threshold; and automatically compensating for the light spot drift in combination with pose feedback and ranging data. The method can effectively alleviate the problems of laser energy attenuation and uncontrollable strengthening effect caused by complex water quality in the underwater environment, significantly improve the strengthening depth uniformity and the strengthening success rate, and reduce the dependence on the experience of operators.

Description

Technical Field

[0001] This invention relates to the field of nuclear power component repair technology, specifically to an in-situ adaptive control method for laser shock peening in the underwater environment of nuclear power plants. Background Technology

[0002] Core components of nuclear power plants, such as the reactor core casing, control rod drive mechanism, and in-core components, are subjected to high temperature, high pressure, radiation, and underwater environments for extended periods, making them susceptible to stress corrosion cracking, wear, fatigue, and other damage. Laser shock peening (LSP) is an ideal non-contact in-situ repair technology. However, existing LSP technologies suffer from significant laser energy attenuation, unstable plasma shielding effects, and large shock wave pressure fluctuations when used in deep underwater environments or when water quality changes (such as boric acid concentration, turbidity, and pH). This leads to uncontrollable strengthening effects and may even result in surface ablation or weak strengthening. Summary of the Invention

[0003] To address the technical problems existing in the background art, the present invention provides an in-situ adaptive control method and system for laser shock enhancement suitable for underwater environments in nuclear power plants. It can automatically match the optimal laser parameters and water layer conditions based on real-time water quality status and shock wave pressure feedback, thereby achieving highly reliable and uniform enhancement of underwater components.

[0004] This invention proposes an in-situ adaptive control method for laser shock enhancement suitable for underwater environments in nuclear power plants, comprising: S1. A miniature multi-parameter optical sensor is integrated at the front end of the laser impact head to collect water quality data of the area to be enhanced in real time. S2. Input the water quality data into the pre-trained process model and automatically select the laser wavelength, pulse energy, pulse width and water confinement layer jet velocity; S3. Arrange a miniature hydrophone array around the impact point to monitor the peak pressure of the shock wave in real time. If the pressure deviates from the set threshold, adjust the laser energy or water confinement layer parameters. S4. By combining the pose feedback of underwater robots or robotic arms with the ranging of laser displacement sensors, the light spot drift is automatically compensated.

[0005] Furthermore, the water quality data includes turbidity, pH value, and boric acid concentration.

[0006] Furthermore, the automatic selection of laser wavelength, pulse energy, pulse width, and water confinement layer jet velocity includes: selecting a 532nm laser wavelength when the turbidity is greater than a first turbidity threshold or the boric acid concentration is greater than a first concentration threshold; otherwise, selecting a 1064nm laser wavelength.

[0007] Furthermore, the real-time monitoring of the peak shock wave pressure, and the adjustment of the laser energy or water confinement layer parameters if the pressure deviates from the set threshold, includes: increasing the laser energy or decreasing the water confinement layer thickness when the peak shock wave pressure is less than the first pressure threshold; and decreasing the laser energy or increasing water depth compensation when the peak shock wave pressure is greater than the second pressure threshold.

[0008] Furthermore, the automatic compensation for light spot drift includes: calculating the spatial coordinate deviation based on the ranging data from the laser displacement sensor and the pose feedback, combining the light path deflection vector caused by the change in water refractive index, calculating the synthetic drift compensation vector, and superimposing it into the robot motion command.

[0009] Furthermore, the pre-trained process model is a mapping function constructed based on a database of laser shock peening processes under different water qualities. Its input is the water quality data, and its output is a set of matched quadruplet process parameters.

[0010] Furthermore, the automatic compensation for light spot drift will ensure that the overlap area ratio of adjacent light spots remains stable within a preset percentage range.

[0011] Furthermore, the micro hydrophone array is a combination of 3 to 6 acoustic-electric transducers distributed around the impact point.

[0012] Furthermore, a non-volatile storage medium is proposed, in which a computer program stored in the medium is executed by a processor to implement the laser shock enhancement in-situ adaptive control method.

[0013] Furthermore, this invention also proposes an in-situ adaptive control system for laser shock enhancement suitable for underwater environments in nuclear power plants, comprising: The water quality sensing module is used to collect and process water quality data for the area to be enhanced. The process matching module is used to perform dynamic matching of water quality data to process parameters; The pressure control module is used to monitor the peak pressure of the shock wave and adjust the parameters. The path correction module is used to perform automatic compensation for spot drift.

[0014] This invention proposes an in-situ adaptive control method and system for laser shock enhancement suitable for underwater environments in nuclear power plants. Based on real-time water quality and shock wave pressure feedback, it automatically matches the optimal laser parameters and water layer conditions, effectively alleviating the problems of laser energy attenuation and uncontrollable enhancement effects caused by complex underwater water conditions. It significantly improves the uniformity of enhancement depth and the success rate of enhancement, and reduces the dependence on operator experience. Attached Figure Description

[0015] Figure 1This is a schematic diagram of the composition of a laser shock enhancement in-situ adaptive control system suitable for underwater environments in nuclear power plants, according to the present invention. Figure 2 This is a flowchart of the water quality sensing and parameter matching process of the present invention; Figure 3 This is the closed-loop control logic diagram for shock wave pressure of the present invention; Figure 4 This invention presents a schematic diagram of an in-situ adaptive control process for laser shock enhancement suitable for underwater environments in nuclear power plants. Detailed Implementation

[0016] This invention proposes an in-situ adaptive control method for laser shock enhancement suitable for underwater environments in nuclear power plants, referencing... Figure 4 ,include: S1. Water quality sensing: A miniature multi-parameter optical sensor is integrated at the front end of the laser impact head to collect water quality data of the area to be enhanced in real time.

[0017] Among them, water quality data is defined as a set of parameters characterizing the physicochemical properties of the underwater working environment, including turbidity, pH value and boric acid concentration; miniature multi-parameter optical sensor is defined as a multi-channel detection module integrated at the front end of the laser impact head, whose input is the in-situ water sample of the area to be enhanced and whose output is the quantified water quality electrical signal; laser impact head is defined as an execution terminal that emits high-energy pulsed laser; the working principle is that the sensor probe directly contacts the in-situ water body to generate photoelectric or electrochemical response, converting the turbidity particle scattered light signal, hydrogen ion activity potential signal and boric acid characteristic spectral signal in the water body into a readable water quality data sequence, thus completing the digital perception of environmental parameters.

[0018] Specifically, the sensor module continuously samples at a preset frequency and outputs a discrete data stream containing turbidity, pH, and boric acid concentration values. This data stream serves as the input for dynamic matching of subsequent process parameters.

[0019] In one specific implementation scenario, during underwater in-situ repair of the inner wall of a nuclear power reactor core, a sensor module is immersed in turbid water containing boric acid to acquire real-time water quality data with a turbidity of 8 NTU, a pH of 5.5, and a boric acid concentration of 1200 ppm, and transmit this data to the control unit. Combined with... Figure 1 As shown, the underwater laser impact head 1 integrates a multi-parameter sensor module 2 at its front end for in-situ detection of boric acid water or turbid water; combined with Figure 2 As shown, the multi-parameter sensor first performs real-time water quality acquisition and outputs turbidity, pH and boric acid concentration data.

[0020] S2. Dynamic matching of process parameters: The water quality data is input into the pre-trained process model, and the laser wavelength, pulse energy, pulse width and water confinement layer jet velocity are automatically selected.

[0021] The pre-trained process model is defined as a mapping function constructed based on a database of laser shock peening processes under different water qualities. Its input is water quality data, and its output is a set of matched quadruplet process parameters. The laser wavelength is defined as the length of a single spectral line of the laser beam; the pulse energy is defined as the amount of work carried by a single laser pulse; the pulse width is defined as the duration for which the laser pulse reaches its peak power; and the jet velocity of the water confinement layer is defined as the displacement of the fluid in the confinement layer through the nozzle cross-section per unit time. The working principle is that after the model receives water quality data, it performs logical branch judgments based on the absorption and scattering attenuation mechanism of water to specific wavelengths. When the turbidity is >5 NTU or the boric acid concentration is >1000 ppm, the light transmittance of the water decreases, resulting in a significant attenuation of the 1064 nm wavelength laser energy. At this time, it switches to a shorter wavelength of 532 nm with stronger penetration and scattering capabilities. Subsequently, the compensation amount is calculated based on the attenuation characteristics of water depth, and the baseline parameters are superimposed to generate the final set of pulse energy, pulse width, and velocity parameters.

[0022] Specifically, when the input turbidity is ≤5 NTU and the boric acid concentration is ≤1000 ppm, the output wavelength is 1064 nm; when the input turbidity is >5 NTU or the boric acid concentration is >1000 ppm, the output wavelength is 532 nm; at the same time, the output pulse energy is uniformly 5~10 J and dynamically compensated according to the water depth attenuation, the pulse width is 10~20 ns, and the water confinement layer flow velocity is 0.5~2 m / s.

[0023] In one specific implementation scenario, the model receives data showing a turbidity of 8 NTU and a boric acid concentration of 1200 ppm, triggering a high-turbidity, high-boric acid branch. It then outputs process parameter configurations with a wavelength of 532 nm, pulse energy of 8 J, pulse width of 15 ns, and flow rate of 1.5 m / s, which are sent to the actuator. Combined with... Figure 2 As shown, after the data is input into the pre-trained process model, the system determines that if the turbidity is ≤5 NTU and the boric acid concentration is ≤1000 ppm, then the laser wavelength of 1064 nm is selected; if the turbidity is >5 NTU or the boric acid concentration is >1000 ppm, then the laser wavelength of 532 nm is selected. Subsequently, the unified parameter configuration is executed and the process parameters are output to the actuator.

[0024] S3. Shock wave pressure closed-loop control: A miniature hydrophone array is arranged around the impact point to monitor the peak value of the shock wave pressure in real time. If the pressure deviates from the set threshold, the laser energy or water confinement layer parameters are adjusted. The micro hydrophone array is defined as a combination of 3 to 6 acoustic-electric transducers distributed around the impact point. Its input is the physical quantity of the shock wave sound pressure, and its output is the peak pressure electrical signal. The peak pressure of the shock wave is defined as the maximum pressure of the transient shock wave generated by the laser-induced plasma explosion. The set threshold is defined as the pressure boundary range that ensures that the material undergoes plastic deformation without ablation. The working principle is that the hydrophone array captures the sound pressure signal generated at the moment of laser impact and extracts the pressure peak. The closed-loop controller compares the real-time peak with the set threshold. When the pressure is <5 GPa, the plasma shielding effect is insufficient, resulting in weak reinforcement. The controller outputs a command to increase the laser energy or reduce the thickness of the water confinement layer to increase the pressure. When the pressure is >8 GPa, there is an excess of energy and a risk of ablation. The controller outputs a command to reduce the laser energy or increase the water depth compensation to suppress the pressure, forming a negative feedback regulation until the pressure stabilizes in the 5-8 GPa range.

[0025] Specifically, the hydrophone array consists of 3 to 6 units evenly distributed around the nozzle to collect signals. The closed-loop controller compares the real-time peak values: if <5GPa, it performs a pressurization action to increase laser energy or adjust the thickness of the water confinement layer; if >8GPa, it performs a depressurization action to reduce energy or increase water depth compensation; if it is between 5 and 8GPa, it keeps the parameters unchanged.

[0026] In one specific implementation scenario, a peak pressure of 4.2 GPa was detected at an impact point, below the 5 GPa threshold. The closed-loop controller increased the energy of subsequent laser pulses at that point from 8 J to 9.5 J and adjusted the jet angle to reduce the thickness of the water confinement layer, causing the subsequent impact pressure to rise back to the normal range of 6 GPa. Combined with... Figure 1 As shown, the hydrophone array 3 is evenly distributed around the nozzle; combined with Figure 3 As shown, the hydrophone array acts as the acquisition end to collect the peak pressure of the shock wave in real time. When it is in the low-pressure condition of working condition 1 with pressure < 5GPa, the laser energy is increased or the thickness of the water confinement layer is adjusted. When it is in the normal working condition of 5GPa to 8GPa, the parameters remain unchanged. When it is in the high-pressure condition of working condition 2 or working condition 3 with pressure > 8GPa, the laser energy is reduced or the water depth compensation is increased. Finally, the action end, namely the laser shock and the water confinement layer, acts on the workpiece.

[0027] S4. Underwater path self-correction: Combines the pose feedback of the underwater robot or robotic arm with the ranging of the laser displacement sensor to automatically compensate for the drift of the light spot.

[0028] Among them, the underwater robot or robotic arm is defined as a carrier platform that carries the laser impact head and provides spatial degrees of freedom for motion; the pose feedback is defined as the translation and rotation matrix of the coordinate system at the end of the carrier platform relative to the coordinate system of the base; the laser displacement sensor is defined as a device that uses the principle of triangular reflection to measure the absolute distance from the probe to the surface of the workpiece; the spot drift is defined as the offset of the laser focus on the surface of the workpiece caused by water flow disturbance or changes in the refractive index of the medium; the working principle is that the laser displacement sensor obtains the actual distance from the surface of the workpiece, and the deviation between the current spatial coordinates of the impact head and the theoretical trajectory is calculated by combining the pose feedback. At the same time, the optical path deflection vector caused by the change in the refractive index of the water is introduced to calculate the composite drift compensation vector. This vector is superimposed on the robot motion command to drive the impact head to translate or rotate, so that the laser spot accurately lands at the planned coordinates and ensures that the overlap area ratio of adjacent spots is constant.

[0029] Specifically, the system continuously reads pose data and ranging data, calculates the two-dimensional offset error caused by water flow and refractive index, generates compensation commands and sends them to the robot joints or slide actuators to stably control the light spot overlap rate at 50%~75%.

[0030] In one specific implementation scenario, the impact of water flow causes a 0.5mm lateral displacement of the robotic arm, while changes in the water's refractive index induce a 0.2mm optical displacement. The system calculates a total drift of 0.7mm and issues a reverse compensation displacement. After the robotic arm performs the correction, the laser spot accurately lands on the preset grid points, maintaining a 60% overlap rate to continue operation. Combined with... Figure 1 As shown, the underwater robot / mechanical arm connecting flange 6 carries the movement of the impact head, and the control unit 7 outputs parameter adjustment signals to the laser and nozzle actuator to collaboratively complete the path self-correction.

[0031] Furthermore, the water quality data includes turbidity, pH value, and boric acid concentration.

[0032] Turbidity is defined as a quantitative indicator of the degree to which suspended particulate matter in water obstructs the transmission of light; pH value is defined as the negative logarithm of hydrogen ion activity in water, characterizing acidity or alkalinity; and boric acid concentration is defined as the molar or mass number of boric acid molecules per unit volume of water.

[0033] Specifically, the three are arranged in chronological order and output synchronously in the water quality data sequence, together forming a complete description of the water quality status.

[0034] In one specific implementation scenario, turbidity of 8 NTU, pH value of 5.5, and boric acid concentration of 1200 ppm were simultaneously measured on the inner wall of the solid shell of the nuclear power reactor core.

[0035] Furthermore, the automatic selection of laser wavelength, pulse energy, pulse width, and water confinement layer jet velocity includes: selecting a 532nm laser wavelength when the turbidity is greater than a first turbidity threshold or the boric acid concentration is greater than a first concentration threshold; otherwise, selecting a 1064nm laser wavelength.

[0036] Among them, the first turbidity threshold is defined as the critical value for determining whether the turbidity of the water body causes severe scattering of long-wavelength lasers; the first concentration threshold is defined as the critical value for determining whether boric acid produces strong absorption of a specific wavelength; the 532nm laser wavelength is defined as short-wavelength green light with strong penetration and scattering ability; and the 1064nm laser wavelength is defined as conventional infrared long-wavelength laser.

[0037] Specifically, the first turbidity threshold is set to 5 NTU, the first concentration threshold is set to 1000 ppm, and the system outputs a wavelength selection command based on a logic comparator.

[0038] In one specific implementation scenario, if the input turbidity of 8 NTU is greater than 5 NTU, a 532 nm laser wavelength will be selected as the trigger.

[0039] Furthermore, the real-time monitoring of the peak shock wave pressure, and the adjustment of the laser energy or water confinement layer parameters if the pressure deviates from the set threshold, includes: increasing the laser energy or decreasing the water confinement layer thickness when the peak shock wave pressure is less than the first pressure threshold; and decreasing the laser energy or increasing water depth compensation when the peak shock wave pressure is greater than the second pressure threshold.

[0040] Among them, the first pressure threshold is defined as the lower limit pressure value that induces plastic deformation of the material; the second pressure threshold is defined as the upper limit pressure value that avoids ablation of the material surface; and water depth compensation is defined as a laser shock enhancement in-situ adaptive control method that adjusts the plasma expansion constraint strength by changing the equivalent thickness of the water layer.

[0041] Specifically, the first pressure threshold is set to 5 GPa, the second pressure threshold is set to 8 GPa, and the controller performs energy increase or decrease operations based on the comparison results.

[0042] In one specific implementation scenario, the measured pressure was 4.2 GPa, which is less than 5 GPa, and the controller increased the laser energy to 9.5 J.

[0043] Furthermore, the automatic compensation for light spot drift includes: calculating the spatial coordinate deviation based on the ranging data from the laser displacement sensor and the pose feedback, combining the light path deflection vector caused by the change in water refractive index, calculating the synthetic drift compensation vector, and superimposing it into the robot motion command.

[0044] Among them, spatial coordinate deviation is defined as the difference between measured coordinates and planned trajectory coordinates; optical path deflection vector is defined as the laser propagation direction offset vector caused by non-uniform refractive index distribution; and synthetic drift compensation vector is defined as the vector sum of mechanical deviation and optical deviation.

[0045] Specifically, the system adds the pose offset of the robotic arm to the offset caused by the refractive index to generate a compensation displacement command in three-dimensional space.

[0046] In one specific implementation scenario, the calculated mechanical offset is 0.5mm and the optical offset is 0.2mm, which together result in a total compensation of 0.7mm.

[0047] Furthermore, the pre-trained process model is a mapping function constructed based on a database of laser shock peening processes under different water qualities. Its input is the water quality data, and its output is a set of matched quadruplet process parameters.

[0048] The mapping function is defined as a nonlinear mapping relationship from the multidimensional space of water quality to the multidimensional space of process parameters; the quadruple process parameter set is defined as an ordered combination of parameters consisting of wavelength, energy, pulse width and flow rate.

[0049] Specifically, the model is trained offline using a neural network or multivariate regression algorithm, and outputs quadruples directly during online inference.

[0050] In one specific implementation scenario, the input turbidity is 8 NTU and the boric acid is 1200 ppm, and the model inference output is (532 nm, 8 J, 15 ns, 1.5 m / s).

[0051] Furthermore, the automatic compensation for light spot drift ensures that the overlap area ratio of adjacent light spots remains stable within a preset percentage range.

[0052] The preset percentage range is defined as the range of spot overlap rate required to ensure the uniformity and density of the reinforcement layer; the overlap area ratio is defined as the ratio of the area of ​​intersection between two adjacent spots to the area of ​​a single spot.

[0053] Specifically, this range is set to 50%~75%, which is achieved by adjusting the matching relationship between the laser pulse emission frequency and the robotic arm movement speed in real time.

[0054] In one specific implementation scenario, the system stably controls the spot overlap rate at 60%.

[0055] Furthermore, the micro hydrophone array is a combination of 3 to 6 acoustic-electric transducers distributed around the impact point.

[0056] Among them, an acoustic-electric transducer is defined as a piezoelectric ceramic device that converts acoustic pressure signals into electrical signals; a combination is defined as an array topology structure formed by multiple transducers evenly distributed in spatial geometry.

[0057] Specifically, three to six hydrophones are evenly distributed around the impact point in a circumferential manner to eliminate directional interference and extract the average peak value.

[0058] In one specific implementation scenario, three hydrophones are evenly distributed around the nozzle at 120-degree angles to each other.

[0059] Furthermore, this application also proposes a non-volatile storage medium, wherein the computer program stored therein is executed by a processor to implement the laser shock enhancement in-situ adaptive control method.

[0060] Among them, non-volatile storage medium is defined as a computer-readable carrier that can retain the stored data without loss when the power is off; computer program is defined as a code sequence containing instructions for executing each step of the present invention; processor is defined as an integrated circuit chip with computing and control capabilities.

[0061] Specifically, the storage medium includes solid-state drives, ROM, or magneto-optical disks, which are connected to the processor via a bus. The processor reads and executes program instructions to drive sensor acquisition, model inference, closed-loop control, and path correction operations.

[0062] In one specific implementation scenario, the control unit 7 has an embedded non-volatile storage medium that pre-stores the process model database and closed-loop control logic program. After power-on, the processor loads the program and executes the water quality sensing, parameter matching, pressure control and path self-correction steps in sequence.

[0063] This application also proposes an in-situ adaptive control system for laser shock enhancement suitable for underwater environments in nuclear power plants, comprising: The water quality sensing module is used to collect and process water quality data for the area to be enhanced. The process matching module is used to perform dynamic matching of water quality data to process parameters; The pressure control module is used to monitor the peak pressure of the shock wave and adjust the parameters. The path correction module is used to perform automatic compensation for spot drift.

[0064] The water quality sensing module is defined as an integrated unit of hardware sensors and front-end signal conditioning circuits. Its input is the physicochemical signal of the in-situ water sample, and its output is digital water quality data. The process matching module is defined as a calculation unit that runs a pre-trained process model. Its input is water quality data, and its output is a set of four-tuple process parameters. The pressure control module is defined as a feedback adjustment unit that includes a hydrophone array and a closed-loop controller. Its input is the shock wave sound pressure signal, and its output is laser energy and water constraint layer adjustment commands. The path correction module is defined as a kinematic calculation unit that integrates pose feedback and ranging data. Its input is coordinate deviation and refractive index deflection vector, and its output is robot motion compensation commands.

[0065] Specifically, each module interacts with the other through the bus or data interface inside the control unit 7. The output of the water quality sensing module is connected to the input of the process matching module, and the output of the process matching module is connected to the laser and the nozzle actuator. The output of the pressure control module is fed back to the process matching module and the actuator. The output of the path correction module is connected to the robot driver.

[0066] In a specific implementation scenario, combined with Figure 1 As shown, the control unit 7 integrates the above four modules. The multi-parameter sensor module 2 serves as the input terminal of the water quality sensing module, sending the data to the process matching module for calculation. The hydrophone array 3 sends the pressure signal to the pressure control module. The path correction module receives the laser displacement sensor and the robot arm pose data. All modules work together to output the final control command to the underwater laser impact head 1, the water constraint layer spray nozzle 4, and the robot arm connecting flange 6, performing adaptive strengthening operations on the workpiece 5 to be strengthened.

[0067] The above are merely preferred embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A laser shock enhancement in-situ adaptive control method suitable for underwater environments in nuclear power plants, characterized in that, include: S1. A miniature multi-parameter optical sensor is integrated at the front end of the laser impact head to collect water quality data of the area to be enhanced in real time. S2. Input the water quality data into the pre-trained process model and automatically select the laser wavelength, pulse energy, pulse width and water confinement layer jet velocity; S3. Arrange a miniature hydrophone array around the impact point to monitor the peak pressure of the shock wave in real time. If the pressure deviates from the set threshold, adjust the laser energy or water confinement layer parameters. S4. By combining the pose feedback of underwater robots or robotic arms with the ranging of laser displacement sensors, the light spot drift is automatically compensated.

2. The laser shock enhancement in-situ adaptive control method suitable for underwater nuclear power plant environments according to claim 1, characterized in that, The water quality data includes turbidity, pH value, and boric acid concentration.

3. The laser shock enhancement in-situ adaptive control method suitable for underwater nuclear power plant environments according to claim 2, characterized in that, The automatic selection of laser wavelength, pulse energy, pulse width, and water confinement layer jet velocity includes: selecting a 532nm laser wavelength when the turbidity is greater than a first turbidity threshold or the boric acid concentration is greater than a first concentration threshold; otherwise, selecting a 1064nm laser wavelength.

4. The laser shock enhancement in-situ adaptive control method suitable for underwater nuclear power plant environments according to claim 1, characterized in that, The real-time monitoring of the peak shock wave pressure, and the adjustment of laser energy or water confinement layer parameters if the pressure deviates from the set threshold, includes: increasing laser energy or decreasing water confinement layer thickness when the peak shock wave pressure is less than the first pressure threshold; and decreasing laser energy or increasing water depth compensation when the peak shock wave pressure is greater than the second pressure threshold.

5. The laser shock enhancement in-situ adaptive control method suitable for underwater environments in nuclear power plants according to claim 1, characterized in that, The automatic compensation for light spot drift includes: calculating the spatial coordinate deviation based on the ranging data from the laser displacement sensor and the pose feedback, combining the light path deflection vector caused by the change in water refractive index, calculating the synthetic drift compensation vector, and superimposing it into the robot motion command.

6. The laser shock enhancement in-situ adaptive control method suitable for underwater nuclear power plant environments according to claim 1, characterized in that, The pre-trained process model is a mapping function constructed based on a database of laser shock peening processes under different water qualities. Its input is the water quality data, and its output is a set of matched quadruplet process parameters.

7. The laser shock enhancement in-situ adaptive control method suitable for underwater environments in nuclear power plants according to claim 1, characterized in that, The automatic compensation for light spot drift will ensure that the overlap area ratio of adjacent light spots remains stable within a preset percentage range.

8. The laser shock enhancement in-situ adaptive control method suitable for underwater nuclear power plant environments according to claim 1, characterized in that, The miniature hydrophone array consists of a combination of 3 to 6 acoustic-electric transducers distributed around the impact point.

9. A non-volatile storage medium, characterized in that, When the computer program stored therein is executed by the processor, it implements a laser shock enhancement in-situ adaptive control method suitable for underwater environments in nuclear power plants, as described in any one of claims 1 to 8.

10. A laser shock enhancement in-situ adaptive control system suitable for underwater environments in nuclear power plants, characterized in that, include: The water quality sensing module is used to collect and process water quality data for the area to be enhanced. The process matching module is used to perform dynamic matching of water quality data to process parameters; The pressure control module is used to monitor the peak pressure of the shock wave and adjust the parameters. The path correction module is used to perform automatic compensation for spot drift.

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