Nuclear power operation path planning method for avoiding nuclear radiation

Abstract

The invention belongs to the technical field of nuclear power station production path planning, aims to solve the problems that in the prior art, nuclear power operation path finding time is long, and path safety cannot be guaranteed, and discloses a nuclear power operation path planning method for avoiding nuclear radiation. A nuclear power station three-dimensional virtual road network is constructed in a mode of reversely calculating actual three-dimensional space coordinates, and a path can be planned in real time by considering a site radiation dose rate factor, so that the minimum exposure dose value of safe operation of personnel in a nuclear power station working scene is ensured.

Description

Technical Field

[0001] The present application belongs to the technical field of nuclear power plant production path planning, and in particular, relates to a nuclear power operation path planning method for avoiding nuclear radiation. Background Art

[0002] Nuclear power is a clean energy source and an important part of the national power system. The safe and stable operation of nuclear power units is not only related to the stability and reliability of the power supply system, but also to the safety of life and property. With the increasing number of nuclear power units, nuclear radiation poses a major risk to the health of operators in many scenarios such as nuclear power plant operation, nuclear waste treatment, and nuclear accident emergency rescue.

[0003] In the production area of ​​a nuclear power plant, corridors and rooms are intertwined, and multiple operations may be carried out simultaneously. The traffic conditions of nuclear power units are dynamically changing. Inspection of production areas and equipment maintenance are the main tasks of nuclear power plants, so personnel safety and stable operation are often one of the important goals. How to plan feasible paths in advance before production personnel enter the nuclear power plant for operation, take into account on-site factors such as travel distance, site dose rate, and whether the door is open or closed, and output recommended routes has become an urgent problem to be solved.

[0004] Traditional path planning methods usually use graph search algorithms to find the optimal path, which has obvious shortcomings when facing complex working scenarios in nuclear power plants, as follows:

[0005] 1) It is impossible to effectively combine radiation dose for path optimization;

[0006] 2) It is impossible to adjust the path in real time to adapt to the dynamic changes of radiation dose. Summary of the invention

[0007] The purpose of this application is to overcome the defects of the prior art and provide a nuclear power operation path planning method that avoids nuclear radiation, solve the problems of long path finding time and lack of path safety in nuclear power operations in the prior art, and plan the path in real time by considering the radiation dose rate factor of the site, thereby ensuring the minimum exposure dose value for personnel to work safely in the nuclear power plant work scene.

[0008] In order to achieve the above objectives, this application provides the following technical solutions:

[0009] The present application provides a nuclear power operation path planning method for avoiding nuclear radiation, including:

[0010] Step 1: Abstract the path entities of the nuclear power plant into road network nodes, associate the attribute features related to path planning with the road network nodes, map the road network traffic status, dose rate and distance to the traffic cost between the point pairs of the road network nodes according to the weights, and construct an undirected connected graph;

[0011] Step 2: Create an OPEN set, add the starting point to the OPEN set, create a CLOSED set and set it empty;

[0012] Step 3: Screen the nodes in the OPEN set; select the node with the smallest comprehensive travel cost as the optimal node and put it into the CLOSED set, and determine whether the optimal node is the end point. If so, generate the best planning path based on the end point by backtracking back to the parent node; otherwise, obtain the adjacent nodes of the optimal node to build an adjacent node set;

[0013] Step 4: Take out adjacent nodes from the adjacent node set one by one as pending adjacent nodes for judgment;

[0014] Step 5: Add the pending adjacent nodes that have not been discarded to the OPEN set, and calculate the travel cost of the pending adjacent nodes. Each adjacent node in the adjacent node set determines whether it is the end point in turn. After each node completes the judgment, execute step 3.

[0015] In some embodiments, the coordinate data, parent node pointer, adjacent nodes, dose rate data, and travel cost of the path node are associated with the path node.

[0016] In some embodiments, selecting a node with the smallest comprehensive travel cost as the optimal node and putting it into the CLOSED set includes:

[0017] Calculate the comprehensive travel cost from the starting point through each node in the OPEN set to the end point:

[0018] fi=gi+hi

[0019] In the formula, fi is the comprehensive travel cost, gi is the path travel cost from the starting point to the node, and hi is the path travel cost from the node to the end point;

[0020] Select the node with the smallest fi in the OPEN set as the optimal node, and put the optimal node into the CLOSED set.

[0021] In some embodiments, the path cost of a path between two nodes is equal to the sum of the costs of each adjacent node in the path. The costs of the adjacent nodes are specifically:

[0022] cost(Ni,Nj)=Kd*Dis tance(Ni,Nj)+Kr*Radiation(Ni,Nj);

[0023] Where Ni and Nj are adjacent nodes, cost(Ni,Nj) is the travel cost between adjacent nodes Ni and Nj, Distance(Ni,Nj) is the distance between adjacent nodes Ni and Nj, Radiation(Ni,Nj) is the radiation dose between adjacent nodes Ni and Nj, Kd is the distance weight, and Kr is the radiation dose weight.

[0024] In some embodiments, the radiation dose between adjacent nodes is specifically:

[0025] The sampling step and sampling number are set according to the walking speed of the staff between adjacent nodes, the paths between adjacent nodes are sampled based on the sampling step and sampling number, and the radiation dose within each sampling step is calculated:

[0026]

[0027] Where, X i is the radiation dose within the i-th sampling step between adjacent nodes Ni and Nj, N i .R is the dose rate at node Ni, N j .R is the dose rate at node Nj, V d is the walking speed between adjacent nodes Ni and Nj, distance is the Euclidean distance between adjacent nodes Ni and Nj, T s is the sampling step length, C i is the sampling number;

[0028] The radiation dose within each sampling step is accumulated to obtain the radiation dose between adjacent nodes.

[0029] In some embodiments, the radiation dose rate is considered to vary approximately linearly between the nodes of the road network, and interpolation sampling is performed between adjacent nodes. Then, between nodes Ni and Nj, the radiation dose rate varies at a speed of V d When walking, the absorbed radiation dose is calculated as follows:

[0030] Among them, the distance between the road network nodes Ni and Nj is calculated using the Euclidean distance formula:

[0031]

[0032] Where, distance is the distance between adjacent nodes Ni and Nj, N i .x is the X-axis coordinate value of the road network node Ni, N i .y is the Y-axis coordinate value of the road network node Ni, N i .z is the Z-axis coordinate value of the road network node Ni, N j .x is the X-axis coordinate value of the road network node Nj, N j.y is the Y-axis coordinate value of the road network node Nj, N j .z is the Z-axis coordinate value of the road network node Nj.

[0033] In some embodiments, step 3 further includes determining whether the OPEN set is an empty set. If so, the path planning fails. If not, each node in the OPEN set is screened.

[0034] In some embodiments, the path cost g_next from the starting point through the optimal node to the pending adjacent node is calculated, and it is determined whether the path cost g_next is greater than the path cost G_next from the starting point to the pending adjacent node. If so, the pending adjacent node is discarded.

[0035] In some embodiments, it is determined whether the pending adjacent node is in the OPEN set or the CLOSED set. If not, go to step 5. Otherwise, it is further determined whether the path cost g_next is greater than the path cost G_next from the starting point to the adjacent node. If so, the pending adjacent node is deleted from the adjacent node set. Otherwise, the next adjacent node is determined.

[0036] In some embodiments, step 4 further comprises:

[0037] Determine whether the adjacent node set is an empty set. If so, go to step 3. If not, take out adjacent nodes one by one from the adjacent node set as pending adjacent nodes for determination.

[0038] Compared with the prior art, the nuclear power operation path planning method for avoiding nuclear radiation provided by the present application has the following beneficial effects:

[0039] In response to the path planning needs of nuclear power plant production areas, this application abstracts the spatial distribution of the plant area and path entities into road network nodes, draws the road network nodes on the plane map and three-dimensional space with the help of three-dimensional coordinates, and converts the entire navigation road network into an undirected connected graph. The topological structure of the undirected connected graph is conducive to optimizing the adjacent point search process, and then optimizing the path planning process. The road network traffic status, dose rate, and distance are mapped to the traffic cost between point pairs of road network nodes according to weights, so as to achieve the path planning goal that comprehensively considers the influence of distance and dose. This application helps staff reduce pathfinding time and improve overall work efficiency, while helping staff to predict and avoid radiation areas to ensure personnel safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the technical solution of the present application, the following is a brief introduction to the drawings required for the technical description.

[0041] Figure 1 A flow chart of a nuclear power operation path planning method for avoiding nuclear radiation provided in this application;

[0042] Figure 2 The abstract road network node diagram provided for this application;

[0043] Figure 3 Schematic diagram of the core idea of ​​A* path planning provided for this application;

[0044] Figure 4 A* path planning algorithm flow chart provided for this application;

[0045] Figure 5 Flowchart of the inter-node dose absorption estimation calculation method provided in this application. DETAILED DESCRIPTION

[0046] The following is further explained in detail through specific implementation methods.

[0047] like Figure 1 As shown, the present application provides a nuclear power operation path planning method for avoiding nuclear radiation, comprising the following steps:

[0048] Step 1: Abstract the path entities of the nuclear power plant into road network nodes, associate the attribute features related to path planning with the road network nodes, map the road network traffic status, dose rate and distance to the traffic cost between the point pairs of the road network nodes according to the weights, and construct an undirected connected graph;

[0049] Step 2: Create an OPEN set, add the starting point to the OPEN set, create a CLOSED set and set it empty;

[0050] Step 3: Screen the nodes in the OPEN set: select the node with the smallest comprehensive travel cost as the optimal node and put it into the CLOSED set, and determine whether the optimal node is the end point. If so, generate the best planning path based on the end point by backtracking to the parent node. Otherwise, obtain the adjacent nodes of the optimal node to build an adjacent node set.

[0051] Step 4: Take out adjacent nodes from the adjacent node set one by one as pending adjacent nodes for judgment: calculate the path cost g_next from the starting point through the optimal node to the pending adjacent node, and judge whether the path cost g_next is greater than the path cost G_next from the starting point to the pending adjacent node. If it is greater, discard the pending adjacent node;

[0052] Step 5: Add the pending adjacent nodes that have not been discarded to the OPEN set, and calculate the travel cost of the pending adjacent nodes. After all the adjacent nodes in the adjacent node set have been judged, go to step 3.

[0053] like Figures 2 to 4As shown in the figure, this method first abstracts the spatial distribution of the plant area and the path entities into road network nodes, draws the road network nodes on the plane map and three-dimensional space with the help of three-dimensional coordinates, and converts the entire navigation road network into an undirected connected graph. Then, create an OPEN set and a CLOSED set to store unvisited nodes and visited nodes respectively. The core of the path planning algorithm is to select the optimal node from the OPEN set {Bi} to the CLOSED set. The comprehensive travel cost fi is the smallest, which is the optimal, fi = gi + hi, gi is the path travel cost from the starting point to the node, hi is the path travel cost from the node to the end point, and the smallest fi value is the optimal. If the fi values ​​are the same, the smaller hi is better. Put the adjacent nodes of the optimal node into the OPEN set, and then traverse the OPEN set to select the optimal node until the target is reached or the OPEN set is empty. Finally, search in the CLOSED set in reverse order according to the parent node pointer contained in the end point G until backtracking to the starting point S. The reverse order of this backtracking link is the optimal path required.

[0054] In step 1, the attribute features related to path planning are associated with the road network nodes, specifically: the coordinate data, parent node pointer, adjacent node, dose rate data, and travel cost of the path node are associated with the path node.

[0055] This method associates the factors that may affect path planning in the actual situation of the production area. The attributes and meanings of the members of the road network node are shown in Table 1:

[0056] Table 1 Analysis of Node class member properties

[0057]

[0058]

[0059] Under such data prerequisites, each road network node is abstracted as a virtual node with coordinate values, dose rate values ​​and other attributes. The road network traffic status, dose rate and distance are reflected in the traffic cost between adjacent nodes according to the weight. The entire navigation road network is converted into an undirected connected graph structure, such as Figure 2 As shown in the figure. Since the attributes of the path nodes of the road network are equivalent, designing a consistent storage structure for all road network nodes is conducive to unified storage and participation in calculation. The road network is regarded as a topological structure of an undirected strongly connected graph, which is conducive to simplifying the node storage structure and optimizing the adjacent point search process.

[0060] Specifically, the road network nodes are stored in the form of node pair arrays in a Json data packet, and are passed to the path planning main program in the form of functions by the backend through the JNI interface.

[0061] In this embodiment, the virtual road network data is stored in the form of a node pair array in a Json data packet, and is passed to the navigation library by the backend in the form of a function parameter through the JNI interface. The default node pair with the backend indicates that the two nodes are also connected in the actual road network. During the road network construction process, the connectivity of the entire virtual road network is detected by the BFS algorithm, and then the edge set and point set of the virtual road network are constructed by reading each line of the Json data. At the same time, for multi-subgraph road networks, the BFS connectivity test logic will feedback the connectivity test results to the backend caller to prompt that the navigation may be unreachable due to the fragmentation of the road network.

[0062] In step 3, the node with the smallest comprehensive travel cost is selected as the optimal node and put into the CLOSED set, specifically:

[0063] Calculate the comprehensive travel cost from the starting point through each node in the OPEN set to the end point:

[0064] fi=gi+hi

[0065] In the formula, fi is the comprehensive travel cost, gi is the path travel cost from the starting point to the node, hi is the path travel cost from the node to the end point, and both the travel cost gi and the travel cost hi include the distance travel cost and the radiation dose travel cost.

[0066] Select the node with the smallest fi in the OPEN set as the optimal node, and put the optimal node into the CLOSED set.

[0067] Specifically, the path cost between two nodes is equal to the sum of the costs of each adjacent node in the path. The cost of adjacent nodes is specifically:

[0068] cost(Ni,Nj)=Kd*Dis tance(Ni,Nj)+Kr*Radiation(Ni,Nj);

[0069] Where Ni and Nj are adjacent nodes, cost(Ni,Nj) is the travel cost between adjacent nodes Ni and Nj, Distance(Ni,Nj) is the distance between adjacent nodes Ni and Nj, Radiation(Ni,Nj) is the radiation dose between adjacent nodes Ni and Nj, Kd is the distance weight, and Kr is the radiation dose weight.

[0070] In the actual calculation process of fi, since not every point in the road network is connected to the starting point, the initial heuristic value of each node is only related to the distance from the node itself to the starting point. In the process of updating fi, the travel cost of two adjacent nodes is determined by the above formula.

[0071] Specifically, the ratio of Kr:Kd is greater than 5:1.

[0072] Taking into account the need to avoid radiation areas, since the recordable lower limit of the actual radiation value recorded in a room in the test data set is usually 0.001mSv / h, in order to increase the weight of the radiation factor to ensure that the site dose rate can indeed truly affect the recommended route output, the Kr:Kd ratio is proposed to be set at a ratio of not less than 1E5:1.

[0073] Further consider the influence of the proposed value of the radiation weight Kr. In the radiation zoning level, the blue zone and the green zone are usually safe areas for passage. Although they have radiation values, based on actual experience, this part of the radiation value is not taken into account in the process of calculating the passage cost. According to the actual passage experience of the staff, the yellow zone is treated as the blue zone and the green zone. Therefore, the yellow zone does not belong to the area where passage is strictly prohibited, but in the process of obtaining the cumulative dose, it is also included in the dose calculation. The orange zone and the red zone are usually prohibited areas. Under the premise that there is a better route, due to the preset large ratio of Kr:Kd, the recommended route output by the algorithm will bypass the orange zone and the red zone. When there is no better route or the starting and ending points are located in the orange zone / red zone, the algorithm will also comprehensively consider the dose absorption level and the distance, and plan and output the route with the minimum absorbed dose in the radiation area.

[0074] In one embodiment, the radiation dose between adjacent nodes is specifically:

[0075] The sampling step and sampling number are set according to the walking speed of the staff between adjacent nodes, the paths between adjacent nodes are sampled based on the sampling step and sampling number, and the radiation dose within each sampling step is calculated:

[0076]

[0077] Where, X i is the radiation dose within the i-th sampling step between adjacent nodes Ni and Nj, N i .R is the dose rate at node Ni, N j .R is the dose rate at node Nj, V d is the walking speed between adjacent nodes Ni and Nj, distance is the Euclidean distance between adjacent nodes Ni and Nj, T s is the sampling step length, C i is the sampling number;

[0078] The radiation dose within each sampling step is accumulated to obtain the radiation dose between adjacent nodes.

[0079] The attributes associated with the road network nodes include the radiation dose rate, namely RadiationIntensity in Table 1. Therefore, in the radiation estimation calculation between the starting points, it can be assumed that each path node between the starting points has a radiation dose rate. According to the design of the road network node structure Node in the path planning algorithm, each road network node contains RadiationIntensity as the radiation dose rate R of the road network node.

[0080] The radiation dose rate is considered to vary approximately linearly between the nodes of the road network, and interpolation sampling is performed between adjacent nodes. Then, between nodes Ni and Nj, the radiation dose rate varies with the speed V d When walking, the radiation dose absorbed is calculated by Figure 5 As shown:

[0081] Among them, the distance between the road network nodes Ni and Nj is calculated using the Euclidean distance formula:

[0082]

[0083] Where, distance is the distance between adjacent nodes Ni and Nj, N i .x is the X-axis coordinate value of the road network node Ni, N i .y is the Y-axis coordinate value of the road network node Ni, N i .z is the Z-axis coordinate value of the road network node Ni, N j .x is the X-axis coordinate value of the road network node Nj, N j .y is the Y-axis coordinate value of the road network node Nj, N j .z is the Z-axis coordinate value of the road network node Nj.

[0084] Dose absorption value X within one sampling step i The calculation formula is obtained by linear interpolation formula:

[0085]

[0086] The dose absorption value X obtained by cumulative calculation can be regarded as the estimated value of the absorbed dose for the short distance between Ni and Nj. Therefore, the dose absorption estimation calculation of each path planning can be finally converted into segment calculation. The path planning result is a set of node sequences arranged in order. The estimated value of dose absorption for traveling according to this sequence can be obtained by accumulating the estimated value X of each path segment by the above interpolation calculation method.

[0087] In one embodiment, step 3 further includes:

[0088] Determine whether the OPEN set is an empty set. If so, path planning fails. If not, screen each node in the OPEN set.

[0089] In one embodiment, in step 4, adjacent nodes are taken out one by one from the adjacent node set as pending adjacent nodes for determination, specifically:

[0090] Determine whether the pending adjacent node is in the OPEN set or the CLOSED set. If not, go to step 5. Otherwise, further determine whether the path cost g_next is greater than the path cost G_next from the starting point to the adjacent node. If so, delete the pending adjacent node from the adjacent node set. Otherwise, proceed to determine the next adjacent node.

[0091] In one embodiment, step 4 further includes:

[0092] Determine whether the adjacent node set is an empty set. If so, go to step 3. If not, take out adjacent nodes one by one from the adjacent node set as pending adjacent nodes for determination.

[0093] This application uses precise Mercator projection coordinates to construct a three-dimensional virtual road network for nuclear power plants by reversely calculating the actual three-dimensional space coordinates, and customizes and develops a path planning algorithm module suitable for the production area of ​​a nuclear power plant. This application plans feasible paths in advance. The algorithm module takes into account on-site factors such as travel distance, site dose rate, and whether the door is open or closed, and outputs a recommended route. The research goal of this algorithm is to comprehensively consider the complex conditions and dynamic changes of the unit. During the actual operation of the production area, referring to the actual output path of the algorithm can not only reduce the staff's path-finding time and improve overall work efficiency, but also help the staff predict and avoid radiation areas to ensure personnel safety.

[0094] The above description is only a specific implementation manner of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by any technician familiar with the technical field within the technical scope disclosed in the present application should be covered within the protection scope of the present application.

Claims

1. A nuclear power operation path planning method for avoiding nuclear radiation, characterized in that: include: Step 1: Abstract the path entities of the nuclear power plant into road network nodes, associate the attribute features related to path planning with the road network nodes, map the road network traffic status, dose rate and distance to the traffic cost between the point pairs of the road network nodes according to the weights, and construct an undirected connected graph; Step 2: Create an OPEN set, add the starting point to the OPEN set, create a CLOSED set and set it empty; Step 3: Screen the nodes in the OPEN set: select the node with the smallest comprehensive travel cost as the optimal node and put it into the CLOSED set, and determine whether the optimal node is the end point. If so, generate the best planning path based on the end point and trace back to the parent node. If not, obtain the adjacent nodes of the optimal node to construct the adjacent node set; Step 4: Take out adjacent nodes from the adjacent node set one by one as pending adjacent nodes for judgment; Step 5: Add the pending adjacent nodes that have not been discarded to the OPEN set, and calculate the travel cost of the pending adjacent nodes. Each adjacent node in the adjacent node set determines whether it is the end point in turn. After each node completes the judgment, execute step 3.

2. The method for nuclear power operation path planning for avoiding nuclear radiation according to claim 1, characterized in that: In step 1, the coordinate data, parent node pointer, adjacent node, dose rate data, and travel cost of the path node are associated with the path node.

3. The method for nuclear power operation path planning for avoiding nuclear radiation according to claim 1, characterized in that: In step 3, the node with the smallest comprehensive travel cost is selected as the optimal node and put into the CLOSED set, including: Calculate the comprehensive travel cost from the starting point through each node in the OPEN set to the end point: fi=gi+hi In the formula, fi is the comprehensive travel cost, gi is the path travel cost from the starting point to the node, and hi is the path travel cost from the node to the end point; Select the node with the smallest fi in the OPEN set as the optimal node, and put the optimal node into the CLOSED set.

4. The method for nuclear power operation path planning for avoiding nuclear radiation according to claim 3 is characterized in that: The path cost between two nodes is equal to the sum of the costs of each adjacent node in the path. The cost of adjacent nodes is: cost(Ni,Nj)=Kd*Distance(Ni,Nj)+Kr*Radiation(Ni,Nj); Where Ni and Nj are adjacent nodes, cost(Ni,Nj) is the travel cost between adjacent nodes Ni and Nj, Distance(Ni,Nj) is the distance between adjacent nodes Ni and Nj, Radiation(Ni,Nj) is the radiation dose between adjacent nodes Ni and Nj, Kd is the distance weight, and Kr is the radiation dose weight.

5. The method for nuclear power operation path planning for avoiding nuclear radiation according to claim 1, characterized in that: The radiation dose between adjacent nodes is: The sampling step and sampling number are set according to the walking speed of the staff between adjacent nodes, the paths between adjacent nodes are sampled based on the sampling step and sampling number, and the radiation dose within each sampling step is calculated: Where, X i is the radiation dose within the i-th sampling step between adjacent nodes Ni and Nj, N i .R is the dose rate at node Ni, N j .R is the dose rate at node Nj, V d is the walking speed between adjacent nodes Ni and Nj, distance is the Euclidean distance between adjacent nodes Ni and Nj, T s is the sampling step length, C i is the sampling number; The radiation dose within each sampling step is accumulated to obtain the radiation dose between adjacent nodes.

6. The method for nuclear power operation path planning for avoiding nuclear radiation according to claim 1, characterized in that: The radiation dose rate is considered to vary approximately linearly between the nodes of the road network, and interpolation sampling is performed between adjacent nodes. Then, between nodes Ni and Nj, the radiation dose rate varies with the speed V d When walking, the absorbed radiation dose is calculated as follows: Among them, the distance between the road network nodes Ni and Nj is calculated using the Euclidean distance formula: Where, distance is the distance between adjacent nodes Ni and Nj, N i .x is the X-axis coordinate value of the road network node Ni, N i .y is the Y-axis coordinate value of the road network node Ni, N i .z is the Z-axis coordinate value of the road network node Ni, N j .x is the X-axis coordinate value of the road network node Nj, N j .y is the Y-axis coordinate value of the road network node Nj, N j .z is the Z-axis coordinate value of the road network node Nj.

7. The method for nuclear power operation path planning for avoiding nuclear radiation according to claim 1, characterized in that: Step 3 also includes determining whether the OPEN set is an empty set. If so, the path planning fails. If not, each node in the OPEN set is screened.

8. The method for nuclear power operation path planning for avoiding nuclear radiation according to claim 1, characterized in that: In step 4, the path cost g_next from the starting point through the optimal node to the pending adjacent node is calculated, and it is determined whether the path cost g_next is greater than the path cost G_next from the starting point to the pending adjacent node. If so, the pending adjacent node is discarded.

9. The method for planning a nuclear power operation path to avoid nuclear radiation according to claim 1 or 8, characterized in that: In step 4, determine whether the pending adjacent node is in the OPEN set or the CLOSED set. If not, go to step 5. Otherwise, further determine whether the path cost g_next is greater than the path cost G_next from the starting point to the adjacent node. If so, delete the pending adjacent node from the adjacent node set. Otherwise, proceed to determine the next adjacent node.

10. The method for nuclear power operation path planning for avoiding nuclear radiation according to claim 1 or 8, characterized in that: Step 4 also includes: Determine whether the adjacent node set is an empty set. If so, go to step 3. If not, take out adjacent nodes one by one from the adjacent node set as pending adjacent nodes for determination.

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