Automatic control system and method for cross-operation of multiple cranes in nuclear island fuel plant

Abstract

This invention provides a multi-crane spatial cross-operation automatic control system and method for a nuclear island fuel plant, relating to the field of nuclear island fuel technology. The method includes the following steps: S1, establishing an overall spatial coordinate system for the fuel plant to obtain specific coordinates; S2, based on the specific coordinates, inputting the start and end positions of the human-bridge crane and the auxiliary crane on the touchscreen; S3, determining whether there is interference in the z-direction; if there is no z-direction interference, proceed to S4; S4, determining whether there is interference in the x-direction; if there is no x-direction interference, the human-bridge crane and the auxiliary crane simultaneously execute the start command and continue executing S3; S5, the human-bridge crane starts; S6, the auxiliary crane starts; S7, the guiding operation is completed. By using this invention, during cross-operation, if spatial obstacles or interference are encountered, the operation priority level can be autonomously determined according to different working conditions, avoiding obstructive spaces and continuing automatic guiding operations.

Description

Technical Field

[0001] This invention relates to the field of nuclear island fuel technology, and more particularly to a multi-crane spatial cross-operation automatic control system and method for nuclear island fuel plant. Background Technology

[0002] Due to the unique requirements of nuclear power plant operations, each work milestone during the core overhaul of the nuclear island after commissioning is strictly regulated, with the transfer of new and used fuel assemblies in the fuel facility being a crucial milestone. The nuclear power plant fuel facility is responsible for the transfer and storage of new and used fuel assemblies, and its working environment involves high levels of radiation. The new and used fuel assemblies in the fuel facility are stored in a storage area composed of a grid network. The large number of fuel assemblies makes the transfer work demanding and requires high precision in aligning the grids for each fuel assembly. Fixed time windows exist during the overhaul period after commissioning. The work characteristics of the fuel facility demand short timeframes, large workloads, and high precision.

[0003] Currently, a human-powered crane is used to transport old fuel assemblies, while an auxiliary crane is used to transport new fuel assemblies. However, during the transport process, the lack of coordinated control often leads to spatial obstacles and interference during overlapping operations, severely slowing down the transport efficiency. Summary of the Invention

[0004] To address the technical problem of spatial obstruction interference during inspection operations in existing fuel assembly transport methods, this invention provides a multi-crane spatial cross-operation automatic control system and method for nuclear island fuel plant buildings. When encountering spatial obstruction interference during cross-operation, this invention can autonomously determine the operation priority level based on different operating conditions and avoid obstructing spaces to continue the automatic transport operation.

[0005] The technical means employed in this invention are as follows:

[0006] A method for automatic control of multiple cranes operating simultaneously in a nuclear island fuel plant includes the following steps:

[0007] S1. Establish the overall spatial coordinate system of the fuel plant to obtain specific coordinates;

[0008] S2. Based on specific coordinates, input the starting and ending positions of the human bridge crane on the touch screen, and input the starting and ending positions of the auxiliary crane on the touch screen.

[0009] S3. Determine if there is interference in the space in the z-direction; if there is interference in the z-direction, the auxiliary crane stops moving, the personnel bridge crane executes the start command and continues to determine if there is interference in the space in the z-direction; if there is no interference in the z-direction, proceed to S4;

[0010] S4. Determine if there is interference in the space in the x-direction; if there is interference in the x-direction, the human bridge crane stops moving, the auxiliary crane executes the start command and continues to determine if there is interference in the space in the x-direction; if there is no interference in the x-direction, the human bridge crane and the auxiliary crane execute the start command simultaneously and continue to execute S3;

[0011] S5. The human bridge crane starts;

[0012] S6, Auxiliary crane start-up;

[0013] S7. Transport completed.

[0014] Furthermore, in S1:

[0015] The overall spatial coordinate system of the fuel plant is based on the x-axis of the running trajectories of the first and second trolleys, the y-axis of the running trajectories of the first and second trolleys, and the z-axis of the lifting trajectory of the hook.

[0016] The coordinates of the new fuel storage area, the old fuel storage area, the storage tank grid, and the new fuel transportation area are marked to obtain specific coordinates.

[0017] Furthermore, S5 specifically includes the following steps:

[0018] S51. Determine whether the hook is under load. If the weighing feedback weight is greater than 0.1t, it is considered to be under load. If it is under load, assign the end point position as the execution coordinate. If it is not under load, assign the start point position as the execution coordinate and execute S52.

[0019] S52. Determine whether the execution coordinates pass through the storage channel. If yes, the trolley moves and makes the y-value of the trolley equal to the y-value of the channel before proceeding to S53. Otherwise, proceed directly to S53.

[0020] S53. The trolley moves so that the trolley's x-value is equal to the target x-value;

[0021] S54. The trolley moves so that the trolley's y-value is equal to the target y-value;

[0022] S55. The hook moves to make the hook z-value equal to the target z-value;

[0023] S56. Determine whether the hook is under load. If the weighing feedback weight is greater than 0.1t, it is considered to be under load. If it is under load, proceed to S57; if it is not under load, proceed to S59.

[0024] S57. Release the spreader and unload the fuel assembly;

[0025] S58. The hook is raised to the upper limit position, and the operation ends;

[0026] S59. Secure the spreader and retrieve the fuel assembly;

[0027] S510, the hook is raised to the upper limit position and S51 is executed.

[0028] Furthermore, S6 specifically includes the following steps:

[0029] S61. Determine whether the hook is under load. If the weighing feedback weight is greater than 0.1t, it is considered to be under load. If it is under load, assign the end point position as the execution coordinate. If it is not under load, assign the start point position as the execution coordinate and execute S62.

[0030] S62. The trolley moves so that the trolley's x-value is equal to the target x-value;

[0031] S63. The trolley moves so that the trolley's y-value is equal to the target y-value;

[0032] S64. The hook moves until the hook z-value is equal to the target z-value;

[0033] S65. Determine whether the hook is under load. If the weighing feedback weight is greater than 0.1t, it is considered to be under load. If it is under load, proceed to S66; if it is not under load, proceed to S68.

[0034] S66. Release the spreader and unload the fuel assembly;

[0035] S67. The hook is raised to the upper limit position, and the operation ends;

[0036] S68. Secure the spreader and retrieve the fuel assembly;

[0037] S69, when the hook is raised to the upper limit position, execute S61.

[0038] Furthermore, the priority judgment method for x-direction interference in S3 is as follows: When the human bridge crane and the auxiliary crane body interfere in the x-direction, that is, it is determined by the coordinate of the main crane to be interference of the main crane operation, the auxiliary crane hook z value minus the length L of the load component and the height value of the human bridge crane are used for judgment, and a 1m interference space is reserved on both the left and right in advance. At this time, the auxiliary crane is in the lifting or hoisting state, the auxiliary crane has priority, the human bridge crane stops moving and enters the waiting stage. After non-interference, the human bridge crane continues to work;

[0039] Furthermore, the priority judgment method for z-axis interference in S3 is as follows: When the human bridge crane and the auxiliary crane body interfere in the z-axis, that is, the auxiliary crane is judged to be hook operation interference by the z-coordinate of the hook. The auxiliary crane first confirms whether it has reached the x and y values ​​of the execution coordinate. After reaching the target, it checks whether the hook x-axis value is within the width range of the human bridge crane in the x-axis direction. If it has reached the target and is within its spatial interference range, it is hook movement interference. At this time, the priority is human bridge crane, and the auxiliary crane stops its operation and enters a waiting state. After non-interference, the auxiliary crane continues to work.

[0040] This invention also provides a multi-crane spatial cross-operation automatic control system for a nuclear island fuel plant, used to implement any of the above-mentioned multi-crane spatial cross-operation automatic control methods for nuclear island fuel plants, comprising:

[0041] The PLC control unit is used to establish the overall spatial coordinate system of the fuel plant, to determine whether there is spatial interference, and to send control commands to the auxiliary crane and the man-bridge crane based on the determination result.

[0042] The signal acquisition components DI and DO modules are used to acquire coordinate signals within the overall spatial coordinate system of the fuel plant and send them to the PLC control unit;

[0043] The coaxial absolute encoder of the trolley is used to collect the displacement of the first trolley and the second trolley;

[0044] The coaxial absolute encoder for the main carriage is used to collect the displacement of the first and second main carriages.

[0045] A coaxial absolute encoder for a lifting drum is used to acquire the vertical displacement of the hook.

[0046] The touchscreen is used to set and send the start and end coordinates to the PLC control unit.

[0047] The weighing device is used to determine whether the hook is under load and sends the result to the PLC control unit.

[0048] Furthermore, the auxiliary crane is located above the fuel plant, and the personnel bridge crane is located below the fuel plant. The auxiliary crane includes a first trolley arranged longitudinally, with a first trolley arranged laterally on the first trolley. The personnel bridge crane includes a second trolley arranged longitudinally, with a second trolley arranged laterally on the second trolley. The axis of the first trolley is parallel to the axis of the second trolley, and the axis of the first trolley is parallel to the axis of the second trolley. Hooks are provided on the first trolley and the second trolley.

[0049] Furthermore, the nuclear island fuel plant includes a new fuel transportation area, a combined support storage area, a new fuel storage area, a fuel transfer path area, equipment loading and unloading ports, a used fuel storage tank area, storage channels, and a used fuel storage area.

[0050] Compared with the prior art, the present invention has the following advantages:

[0051] The control system of the present invention realizes distributed data acquisition, and can simultaneously exchange and analyze data on the working status of multiple cranes.

[0052] The control method of this invention establishes a spatial system, which can calculate the collision area through spatial model data and avoid the risk of interference collisions.

[0053] Using the control method of this invention, in the automatic operation of multiple cranes, the operation will not stop due to interference from spatial cross-operations, and the respective tasks will be completed in sequence after the priority is established;

[0054] This invention does not limit the stopping area of ​​each crane, and automatic cross-operation can be carried out at any initial position. Attached Figure Description

[0055] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0056] Figure 1 This is the system control logic diagram of the present invention.

[0057] Figure 2 This is a floor plan of the spent fuel plant of the present invention.

[0058] Figure 3 This is a diagram showing the location of the inventor's bridge crane and auxiliary crane in the fuel plant.

[0059] In the diagram: 1. New fuel transportation area; 2. Combined support storage area; 3. New fuel storage area; 4. Fuel transfer path area; 5. Equipment loading and unloading port; 6. Used fuel storage tank area; 7. Storage channel; 8. Used fuel storage area; 9. Auxiliary crane; 10. Personnel bridge crane. Detailed Implementation

[0060] It should be noted that, unless otherwise specified, the embodiments and features described in the present invention can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0061] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the present invention or its application or use. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0062] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of exemplary embodiments according to the invention. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0063] Unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps described in these embodiments do not limit the scope of the invention. It should also be understood that, for ease of description, the dimensions of the various parts shown in the drawings are not drawn to actual scale. Techniques, methods, and devices known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters in the following drawings denote similar items; therefore, once an item is defined in one drawing, it need not be further discussed in subsequent drawings.

[0064] In the description of this invention, it should be understood that the orientation or positional relationship indicated by directional terms such as "front, back, up, down, left, right", "horizontal, vertical, horizontal" and "top, bottom" is generally based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing this invention and simplifying the description. Unless otherwise stated, these directional terms do not indicate or imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the scope of protection of this invention. The directional terms "inner" and "outer" refer to the inner and outer contours relative to the outline of each component itself.

[0065] Furthermore, it should be noted that the use of terms such as "first" and "second" to define components is merely for the purpose of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore should not be construed as limiting the scope of protection of this invention.

[0066] like Figure 1 As shown, the present invention provides a method for automatic control of multiple cranes operating in a nuclear island fuel plant, comprising the following steps:

[0067] S1. Establish the overall spatial coordinate system of the fuel plant to obtain specific coordinates;

[0068] The overall spatial coordinate system of the fuel plant is based on the x-axis of the running trajectories of the first and second trolleys, the y-axis of the running trajectories of the first and second trolleys, and the z-axis of the lifting trajectory of the hook.

[0069] The coordinates of the new fuel storage area, the old fuel storage area, the storage tank grid, and the new fuel transportation area are marked to obtain specific coordinates.

[0070] S2. Based on specific coordinates, input the starting and ending positions of the human bridge crane 10 on the touch screen, and input the starting and ending positions of the auxiliary crane 9 on the touch screen.

[0071] The manned crane can automatically transport old fuel assemblies from the old fuel storage area to the storage tank simultaneously with the auxiliary crane automatically transporting new fuel assemblies from the guide area to the new fuel storage area. When the two cranes are working simultaneously and in case of spatial interference, the two cranes will communicate via PLC data to confirm their working status, establish the current status to define the priority level of the two cranes, and then the high-priority crane will continue to work while the low-priority crane will take action to avoid interference. When the high-priority crane completes its work, the spatial interference status will be confirmed again. If there is no interference, the low-priority crane will continue to work.

[0072] Since the new fuel transport area and the storage tank do not overlap in the x-direction space, and the new fuel storage area and the old fuel storage area overlap in the x-direction space, and the premise for the automatic operation of the dual vehicles is that the lifting reaches the upper limit position to start the transport, there is only x-direction operation interference and z-direction hook operation interference in the new and old fuel storage areas.

[0073] S3. Determine if there is interference in the space in the z-direction; if there is interference in the z-direction, the auxiliary crane 9 stops moving, the human bridge crane 10 executes the start command and continues to determine if there is interference in the space in the z-direction; if there is no interference in the z-direction, proceed to S4;

[0074] The priority determination method for x-axis interference is as follows: When the human bridge crane 10 and the auxiliary crane 9 interfere with each other in the x-axis, that is, when the main crane coordinate is determined to be interfering with the main crane operation, the auxiliary crane 9 hook z value minus the length L of the load component and the height value of the human bridge crane 10 are used for determination, and a 1m interference space is reserved on both the left and right sides in advance. At this time, the auxiliary crane 9 is in the hoisting or lifting state, and the auxiliary crane 9 has priority. The human bridge crane 10 stops moving and enters the waiting stage. After non-interference, the human bridge crane 10 continues to work.

[0075] The priority judgment method for z-axis interference is as follows: When the human bridge crane 10 and the auxiliary crane 9 interfere with each other in the z-axis, that is, the interference is determined by the z-coordinate of the hook of the auxiliary crane 9. The auxiliary crane 9 first confirms whether it has reached the x and y values ​​of the execution coordinate. After reaching the coordinate, it checks whether the x-axis value of the hook is within the x-axis width range of the human bridge crane 10. If it has reached the coordinate and is within its spatial interference range, it is considered hook motion interference. At this time, the priority is human bridge crane 10, and the auxiliary crane 9 stops its operation and enters a waiting state. After the interference is resolved, the auxiliary crane 9 continues to work.

[0076] S4. Determine if there is interference in the space in the x-direction; when there is interference in the x-direction, the human bridge crane 10 stops moving, the auxiliary crane 9 executes the start command and continues to determine if there is interference in the space in the x-direction; when there is no interference in the x-direction, the human bridge crane 10 and the auxiliary crane 9 simultaneously execute the start command and continue to execute S3;

[0077] S5, the human bridge crane 10 starts;

[0078] S51. Determine whether the hook is under load. If the weighing feedback weight is greater than 0.1t, it is considered to be under load. If it is under load, assign the end point position as the execution coordinate. If it is not under load, assign the start point position as the execution coordinate and execute S52.

[0079] S52. Determine whether the execution coordinates pass through the storage channel. If yes, the trolley moves and makes the y-value of the trolley equal to the y-value of the channel before proceeding to S53. Otherwise, proceed directly to S53.

[0080] S53. The trolley moves so that the trolley's x-value is equal to the target x-value;

[0081] S54. The trolley moves so that the trolley's y-value is equal to the target y-value;

[0082] S55. The hook moves to make the hook z-value equal to the target z-value;

[0083] S56. Determine whether the hook is under load. If the weighing feedback weight is greater than 0.1t, it is considered to be under load. If it is under load, proceed to S57; if it is not under load, proceed to S59.

[0084] S57. Release the spreader and unload the fuel assembly;

[0085] S58. The hook is raised to the upper limit position, and the operation ends;

[0086] S59. Secure the spreader and retrieve the fuel assembly;

[0087] S510, the hook is raised to the upper limit position and S51 is executed.

[0088] S6, auxiliary crane 9 starts;

[0089] S61. Determine whether the hook is under load. If the weighing feedback weight is greater than 0.1t, it is considered to be under load. If it is under load, assign the end point position as the execution coordinate. If it is not under load, assign the start point position as the execution coordinate and execute S62.

[0090] S62. The trolley moves so that the trolley's x-value is equal to the target x-value;

[0091] S63. The trolley moves so that the trolley's y-value is equal to the target y-value;

[0092] S64. The hook moves until the hook z-value is equal to the target z-value;

[0093] S65. Determine whether the hook is under load. If the weighing feedback weight is greater than 0.1t, it is considered to be under load. If it is under load, proceed to S66; if it is not under load, proceed to S68.

[0094] S66. Release the spreader and unload the fuel assembly;

[0095] S67. The hook is raised to the upper limit position, and the operation ends;

[0096] S68. Secure the spreader and retrieve the fuel assembly;

[0097] S69, when the hook is raised to the upper limit position, execute S61.

[0098] S7. Transport completed.

[0099] This invention also provides a multi-crane spatial cross-operation automatic control system for a nuclear island fuel plant, comprising:

[0100] The PLC control unit is used to establish the overall spatial coordinate system of the fuel plant, to determine whether there is spatial interference, and to send control commands to the auxiliary crane 9 and the man-bridge crane 10 based on the determination result.

[0101] The signal acquisition components DI and DO modules are used to acquire coordinate signals within the overall spatial coordinate system of the fuel plant and send them to the PLC control unit;

[0102] The coaxial absolute encoder of the trolley is used to collect the displacement of the first trolley and the second trolley;

[0103] The coaxial absolute encoder for the main carriage is used to collect the displacement of the first and second main carriages.

[0104] A coaxial absolute encoder for a lifting drum is used to acquire the vertical displacement of the hook.

[0105] The touchscreen is used to set and send the start and end coordinates to the PLC control unit.

[0106] The weighing device is used to determine whether the hook is under load and sends the result to the PLC control unit.

[0107] This component includes local DP communication control and dual-machine Ethernet communication data transmission functions.

[0108] The auxiliary crane 9 is located above the fuel plant, and the personnel bridge crane 10 is located below the fuel plant. The auxiliary crane 9 includes a first trolley arranged longitudinally, on which a first trolley is arranged laterally. The personnel bridge crane 10 includes a second trolley arranged longitudinally, on which a second trolley is arranged laterally. The axis of the first trolley is parallel to the axis of the second trolley, and the axis of the first trolley is parallel to the axis of the second trolley. Hooks are provided on the first trolley and the second trolley.

[0109] The nuclear island fuel building includes a new fuel transport area 1, a combined support storage area 2, a new fuel storage area 3, a fuel transfer path area 4, an equipment loading and unloading port 5, a used fuel storage tank area 6, a storage passage 7, and a used fuel storage area 8. The layout diagram of the spent fuel building in this invention is as follows: Figure 1 As shown, new fuel is hoisted from other rooms below the spent fuel building to the new fuel transport area 1 by crane. The combined support storage area 2 stores some of the combined supports used for hoisting. New fuel is transported from the new fuel transport area 1 to the new fuel storage area 3 via auxiliary shunting car 9. When new fuel is needed, the remaining cranes transport it from the new fuel storage area 3 to the fuel transfer path area 4, thus delivering it to the area where the new fuel is used. Used fuel is transported to the used fuel storage area 8 via the fuel transfer path area 4. When used fuel needs to be processed, the man-bridge crane 10 transports the used fuel from the used fuel storage area 8 through the storage channel 7 to the storage tanks in the used fuel storage tank area 6 for bulk sealing, and then the storage tanks are transported from the used fuel storage tank area 6 to the equipment loading / unloading port 5.

[0110] This system allows operators to freely define the positions of the auxiliary crane and the man-bridge crane for transporting fuel components via a touchscreen. It also features a pagination mode to prevent human error and can automatically identify and avoid risks and continue the task when spatial obstacles occur during synchronous automatic transport of the two vehicles.

[0111] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for automatic control of multiple cranes operating in a nuclear island fuel plant, characterized in that, Includes the following steps: S1. Establish the overall spatial coordinate system of the fuel plant to obtain specific coordinates; S2. Based on specific coordinates, input the starting and ending positions of the human bridge crane on the touch screen, and input the starting and ending positions of the auxiliary crane on the touch screen. S3. Determine if there is interference in the space in the z-direction; if there is interference in the z-direction, the auxiliary crane stops moving, the personnel bridge crane executes the start command and continues to determine if there is interference in the space in the z-direction; if there is no interference in the z-direction, proceed to S4; The priority judgment method for x-axis interference is as follows: When the human bridge crane and the auxiliary crane body interfere in the x-axis, that is, it is determined by the coordinate of the main crane to be interference of the main crane operation, the auxiliary crane hook z value minus the length L of the load component and the height value of the human bridge crane are used to determine the interference, and a 1m interference space is reserved on both the left and right sides in advance. At this time, the auxiliary crane is in the lifting or hoisting state, the auxiliary crane has priority, the human bridge crane stops moving and enters the waiting stage. After non-interference, the human bridge crane continues to work; The priority judgment method for z-axis interference is as follows: When the human bridge crane and the auxiliary crane body interfere in the z-axis, that is, the interference of the hook operation is determined by the z-coordinate of the auxiliary crane hook, the auxiliary crane first confirms whether it has reached the x and y values ​​of the execution coordinate. After reaching the position, it checks whether the hook x-axis value is within the width range of the human bridge crane in the x-axis direction. If it has reached the position and is within its spatial interference range, it is considered hook motion interference. At this time, the priority is human bridge crane, and the auxiliary crane stops its operation and enters a waiting state. After non-interference, the auxiliary crane continues to work. S4. Determine if there is interference in the space in the x-direction; when there is interference in the x-direction, the human bridge crane stops moving, the auxiliary crane executes the start command and continues to determine if there is interference in the space in the x-direction. When there is no interference in the x-direction, the human bridge crane and the auxiliary crane simultaneously execute the start command and continue to execute S3; S5. The human bridge crane starts; S51. Determine whether the hook is under load. If the weighing feedback weight is greater than 0.1t, it is considered to be under load. If it is under load, assign the end point position as the execution coordinate. If it is not under load, assign the start point position as the execution coordinate and execute S52. S52. Determine whether the execution coordinates pass through the storage channel. If yes, the trolley moves and makes the y-value of the trolley equal to the y-value of the channel before proceeding to S53. Otherwise, proceed directly to S53. S53. The trolley moves so that the trolley's x-value is equal to the target x-value; S54. The trolley moves so that the trolley's y-value is equal to the target y-value; S55. The hook moves to make the hook z-value equal to the target z-value; S56. Determine whether the hook is under load. If the weighing feedback weight is greater than 0.1t, it is considered to be under load. If it is under load, proceed to S57; if it is not under load, proceed to S59. S57. Release the spreader and unload the fuel assembly; S58. The hook is raised to the upper limit position, and the operation ends; S59. Secure the spreader and retrieve the fuel assembly; S510, Raise the hook to the upper limit position and execute S51; S6, Auxiliary crane start-up; S7. Transport completed.

2. The automatic control method for multiple cranes operating in a space with cross-operation in a nuclear island fuel plant according to claim 1, characterized in that, In S1: The overall spatial coordinate system of the fuel plant is based on the x-axis of the running trajectories of the first and second trolleys, the y-axis of the running trajectories of the first and second trolleys, and the z-axis of the lifting trajectory of the hook. The coordinates of the new fuel storage area, the old fuel storage area, the storage tank grid, and the new fuel transportation area are marked to obtain specific coordinates.

3. The method for automatic control of multiple cranes operating in a space with cross-operation in a nuclear island fuel plant according to claim 1, characterized in that, S6 specifically includes the following steps: S61. Determine whether the hook is under load. If the weighing feedback weight is greater than 0.1t, it is considered to be under load. If it is under load, assign the end point position as the execution coordinate. If it is not under load, assign the start point position as the execution coordinate and execute S62. S62. The trolley moves so that the trolley's x-value is equal to the target x-value; S63. The trolley moves so that the trolley's y-value is equal to the target y-value; S64. The hook moves until the hook z-value is equal to the target z-value; S65. To determine whether the hook is under load, a load is considered to be present when the weighing feedback weight is greater than 0.1t. If loaded, execute S66; if not loaded, execute S68. S66. Release the spreader and unload the fuel assembly; S67. The hook is raised to the upper limit position, and the operation ends; S68. Secure the spreader and retrieve the fuel assembly; S69, when the hook is raised to the upper limit position, execute S61.

4. A multi-crane spatial cross-operation automatic control system for a nuclear island fuel plant, used to implement the multi-crane spatial cross-operation automatic control method for a nuclear island fuel plant as described in any one of claims 1-3, characterized in that, include: The PLC control unit is used to establish the overall spatial coordinate system of the fuel plant, to determine whether there is spatial interference, and to send control commands to the auxiliary crane and the man-bridge crane based on the determination result. The signal acquisition components DI and DO modules are used to acquire coordinate signals within the overall spatial coordinate system of the fuel plant and send them to the PLC control unit; The coaxial absolute encoder of the trolley is used to collect the displacement of the first trolley and the second trolley; The coaxial absolute encoder for the main carriage is used to collect the displacement of the first and second main carriages. A coaxial absolute encoder for a lifting drum is used to acquire the vertical displacement of the hook. The touchscreen is used to set and send the start and end coordinates to the PLC control unit. The weighing device is used to determine whether the hook is under load and sends the result to the PLC control unit.

5. The multi-crane spatial cross-operation automatic control system for the nuclear island fuel plant according to claim 4, characterized in that, The auxiliary crane is located above the fuel plant, and the personnel bridge crane is located below the fuel plant. The auxiliary crane includes a first trolley arranged longitudinally, with a first trolley arranged laterally on the first trolley. The personnel bridge crane includes a second trolley arranged longitudinally, with a second trolley arranged laterally on the second trolley. The axis of the first trolley is parallel to the axis of the second trolley, and the axis of the first trolley is parallel to the axis of the second trolley. The first trolley and the second trolley are equipped with hooks.

6. The multi-crane spatial cross-operation automatic control system for the nuclear island fuel plant according to claim 4, characterized in that, The nuclear island fuel plant includes a new fuel transportation area, a combined support storage area, a new fuel storage area, a fuel transfer path area, equipment loading and unloading ports, a used fuel storage tank area, storage channels, and a used fuel storage area.

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