Path planning method and device for radioactive sample transport vehicle of nuclear power plant

Abstract

The invention relates to the technical field of path planning, and discloses a path planning method and device for a radioactive sample transport vehicle of a nuclear power plant, and the method comprises the steps: obtaining a global path of the transport vehicle between an output end and a receiving end of a radioactive sample, and planning an optimal path of the transport vehicle running between each output end and each receiving end; when it is detected that a certain transport vehicle completes loading, the receiving end with the shortest receiving time delay is selected as a conveying target of the transport vehicle; the receiving time delay is calculated according to the receiving speed of the receiving end on the nuclear waste liquid and the stock of the nuclear waste liquid; according to the receiving time delay, carrying out time delay expansion on the operation parameters of the transport vehicle, so that the transport vehicle meets the consumption demand when reaching the transport target; the operation parameters comprise the optimal path and / or the operation speed; satisfying the receiving demand at least comprises that the queuing time for waiting for receiving after the transport vehicle arrives at the transport target does not exceed a preset waiting time limit. The device comprises a path planning module, a target selection module and a delay expansion module. The actual running path of the transport vehicle is tracked and detected, and the overall transfer efficiency of radioactive samples is improved.

Description

Technical Field

[0001] The present application relates to the technical field of path planning, and in particular to a path planning method and device for a radioactive sample transport vehicle of a nuclear power plant. Background Art

[0002] In recent years, with the rapid development of economy, the consumption of electric energy has been increasing. Among them, coal used for thermal power generation is a non-renewable resource, while wind power and electric power generation are greatly restricted by natural conditions and have certain regional characteristics. Nuclear energy has the advantages of small footprint, no carbon dioxide, no air pollution, stable and reliable operation, etc., so it is increasingly valued by people, and the number of nuclear power plants is also increasing.

[0003] During the operation, maintenance and decommissioning of nuclear power plants, a large amount of radioactive waste liquid will be generated, which needs to be sampled and professionally treated. The participation of manpower in this process is prone to safety hazards, and the automated treatment solution is preferred. Especially in the transportation of radioactive waste liquid, in order to reduce the empty rate of radioactive waste liquid, it is often transported at the output and receiving ends of radioactive waste liquid according to the optimal path, but due to the laying of the operation path of the transport vehicle, the closer to the port, the more restricted the path and the fewer optional routes, the higher the efficiency of the transport vehicle on the path, and the more serious the congestion at the port. It is impossible to effectively achieve higher transportation efficiency through limited port routes, which not only fails to improve the transportation efficiency, but also slows down the treatment plan of the radioactive waste liquid receiving end; in addition, the transport vehicle needs to return for secondary use, which further causes the congestion of the port; serious congestion will not only block the path node and slow down the overall progress, but also seriously affect the waste liquid treatment plan; at the same time, manual intervention in the presence of nuclear waste liquid poses a safety hazard. Summary of the invention

[0004] In order to solve the above problems, an embodiment of the present application provides a path planning method and device for a nuclear power plant radioactive sample transport vehicle, which adjusts the operating parameters of the transport vehicle according to the receiving conditions of the receiving end, reduces the risk of blockage of the transport vehicle at the port, and improves the overall transportation efficiency of radioactive samples.

[0005] In a first aspect, an embodiment of the present application provides a path planning method for a radioactive sample transport vehicle in a nuclear power plant, the method comprising:

[0006] Obtaining a global path of the transport vehicle between the output end and the receiving end of the radioactive sample, and planning an optimal path for the transport vehicle to run between each output end and each receiving end;

[0007] When it is detected that a transport vehicle has completed loading, the receiving end with the shortest receiving delay is selected as the transport target of the transport vehicle; the receiving delay is calculated based on the receiving speed of the receiving end for the radioactive sample and the stock of the radioactive sample;

[0008] Delaying and extending the operating parameters of the transport vehicle according to the receiving delay, so that the transport vehicle meets the receiving requirements when arriving at the delivery target; the operating parameters include the optimal path and / or operating speed;

[0009] Meeting the receiving requirement at least includes: the waiting time for receiving after the transport vehicle arrives at the transport target does not exceed a preset waiting time limit.

[0010] Preferably, obtaining a global path of the transport vehicle between the output end and the receiving end of the radioactive sample, and planning an optimal path for the transport vehicle to run between each output end and each receiving end, further comprises:

[0011] Outputting unique response information of each receiving end in sequence according to the position information of each receiving end in the global path;

[0012] Outputting unique identification information of each output terminal in sequence according to the position information of each output terminal in the global path;

[0013] Obtaining an optimal path between each output end and each receiving end; the optimal path is the shortest path between the output end and the receiving end;

[0014] An index table of the optimal path is established with the identification information as a search item, the response information as a verification item, and the optimal path as an output item.

[0015] Preferably, when it is detected that a transport vehicle has completed loading, the receiving end with the shortest receiving delay is selected as the transport target of the transport vehicle, specifically including:

[0016] Presetting the loading mass of each of the transport vehicles;

[0017] When it is detected that the weight of a transport vehicle reaches the loading mass corresponding to the transport vehicle, the transport vehicle completes loading;

[0018] Obtaining identification information of the output end corresponding to the transport vehicle when loading is completed, and determining the output end of the transport vehicle;

[0019] Selecting the receiving end with the shortest receiving delay as the transport target of the transport vehicle, and extracting the response information of the transport target;

[0020] Based on the identification information and the response information, the optimal path of the current transport vehicle between the output end and the transport target is obtained through the index form.

[0021] Preferably, selecting the receiving end with the shortest receiving delay as the transportation target of the transport vehicle specifically includes:

[0022] predefine the receiving speed of each receiving end for the radioactive sample;

[0023] Acquiring the inventory of the radioactive samples corresponding to each receiving end; the inventory includes the temporary storage of the radioactive samples transferred to the receiving end and the loading volume of the radioactive samples on the transport vehicle that has arrived at or selected the receiving end;

[0024] Calculating the receiving delay of each receiving end according to the receiving speed of the radioactive sample and the inventory;

[0025] The receiving end with the shortest receiving delay is selected as the transportation target of the transport vehicle.

[0026] Preferably, the operation parameters of the transport vehicle are extended with a delay according to the receiving delay so that the transport vehicle meets the receiving requirements when arriving at the delivery target, specifically including:

[0027] Presetting a standard speed for the transport vehicle when it runs in the global path;

[0028] Delaying the operation parameters of the transport vehicle according to the receiving delay includes:

[0029] Preset a waiting time limit for the queuing time for the transport vehicle to be received after arriving at the transport destination;

[0030] Calculating the running time required for the transport vehicle to run to the transport destination along the optimal path and at the standard speed;

[0031] Calculate the difference between the receiving delay and the running time, and determine whether the difference is less than the waiting time limit:

[0032] If yes, the delay extension is not responded to, and the transport vehicle runs along the optimal path and standard speed;

[0033] If not, the operation parameters of the transport vehicle are extended with a delay to increase the operation time of the transport vehicle so that the transport vehicle meets the receiving requirements when it arrives at the delivery destination;

[0034] The delay extension includes: increasing the running path of the transport vehicle and / or reducing the running speed of the transport vehicle based on the optimal path.

[0035] Preferably, it also includes:

[0036] Obtaining a final path of the transport vehicle, wherein the final path is the optimal path or the path after the delay extension;

[0037] Based on the global path, outputting the sequence of electromagnetic doors that the transport vehicle passes through when running along the final path;

[0038] Obtaining a door-passing signal of the transport vehicle, wherein the door-passing signal is obtained by the electromagnetic door detecting / scanning the transport vehicle;

[0039] When the gate-passing signal does not match the path sequence, an abnormal alarm is issued;

[0040] When the transition signal matches the path sequence, no response is given.

[0041] Preferably, it also includes:

[0042] The actual load of the transport vehicle is obtained, and the standard speed is adjusted according to the actual load; when the actual load reaches the preset load mass, the standard speed is minimum.

[0043] In a second aspect, an embodiment of the present application provides a path planning device for a radioactive sample transport vehicle in a nuclear power plant, the device comprising:

[0044] Path planning module: obtain the global path of the transport vehicle between the output end and the receiving end of the radioactive sample, and plan the optimal path for the transport vehicle to run between each output end and each receiving end;

[0045] Target selection module: When a transport vehicle is detected to have completed loading, the receiving end with the shortest receiving delay is selected as the transport vehicle's delivery target; the receiving delay is calculated based on the receiving speed of the receiving end for the radioactive samples and the inventory of the radioactive samples;

[0046] Delay extension module: Delay extension of the transport vehicle's operating parameters according to the receiving delay, so that the transport vehicle meets the receiving requirements when it arrives at the delivery target; the operating parameters include the optimal path and / or operating speed;

[0047] Meeting the receiving requirements at least includes: the waiting time for the transport vehicle to be received after arriving at the delivery target does not exceed the preset waiting time limit.

[0048] In a third aspect, an embodiment of the present application provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the steps of the method provided in the first aspect or any possible implementation of the first aspect are implemented.

[0049] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the method provided in the first aspect or any possible implementation manner of the first aspect.

[0050] The beneficial effects of the present invention are:

[0051] The present invention provides a path planning method and device for a radioactive sample transport vehicle in a nuclear power plant. On the basis of an optimal path, the operation parameters of subsequent transport vehicles are delayed and extended according to the retention of radioactive samples at a receiving end, so that the arrival of the transport vehicle at the receiving end is delayed to a certain extent, and the limited port path can be effectively utilized, effectively reducing the occurrence of blockages, thereby improving the overall operation efficiency; at the same time, the frequency of manual intervention is reduced, and the safety of automated production operations is improved.

[0052] The actual operation path of the transport vehicle is tracked and detected to avoid operation errors of the transport vehicle and provide timely feedback and response. The staff can intervene remotely and correct the operation path independently to ensure the orderliness of the production plan. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0054] Figure 1 A schematic flow chart of a path planning method for a nuclear power plant radioactive sample transport vehicle provided in an embodiment of the present application;

[0055] Figure 2 A schematic diagram of the structure of a path planning device for a radioactive sample transport vehicle in a nuclear power plant provided in an embodiment of the present application;

[0056] Figure 3 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0057] The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application.

[0058] In the following introduction, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance. The following introduction provides multiple embodiments of the present application, and different embodiments can be replaced or combined, so the present application can also be considered to include all possible combinations of the same and / or different embodiments recorded. Therefore, if one embodiment includes features A, B, and C, and another embodiment includes features B and D, then the present application should also be considered to include embodiments containing one or more of all other possible combinations of A, B, C, and D, although the embodiment may not be clearly recorded in the following text.

[0059] The following description provides examples and does not limit the scope, applicability or examples set forth in the claims. Changes may be made to the functions and arrangements of the elements described without departing from the scope of the present application. Various processes or components may be appropriately omitted, substituted or added to each example. For example, the described method may be performed in an order different from the order described, and various steps may be added, omitted or combined. In addition, features described in some examples may be combined in other examples.

[0060] See also Figure 1 , Figure 1 : is a flow chart of a path planning method for a nuclear power plant radioactive sample transport vehicle provided in an embodiment of the present application. In the embodiment of the present application, the method includes:

[0061] S101, obtaining a global path of the transport vehicle between an output end and a receiving end of the radioactive sample, and planning an optimal path for the transport vehicle to run between each output end and each receiving end.

[0062] The executor of this application can be the control system of the transport vehicle, and at the same time cooperate with the detection device installed on the operation path to identify and detect the route of the transport vehicle, ensure that the actual operation route of the transport vehicle is consistent with the planned route, and implement an orderly production plan.

[0063] In the present application, the global path of the transport vehicle may be a mesh structure, and the output end of the radioactive sample (such as nuclear waste liquid) is a fixed port, which is generally immovable, and the global path can be laid based on these ports; and the receiving end of the radioactive sample is built based on a professional processing device, which can be mobile, but no matter how these devices move, they still need to establish a stable docking line with the global path, and these docking lines are restrictive relative to the global path. The queuing and return of the transport vehicle are all realized by the docking lines. When multiple processing devices are centrally set up, these docking lines appear even more "crowded".

[0064] There is a certain temporary storage area in the processing device for temporarily storing radioactive samples that have not yet been processed, but the capacity of the temporary storage area is limited; at the same time, the processing speed of each processing device for radioactive samples may be different. These differences may be caused by the different number of internal processing production lines or the different processing processes.

[0065] The receiving speed of radioactive samples at the receiving end is limited. If the transportation efficiency of radioactive samples is too high, it cannot improve the processing efficiency of radioactive samples. Instead, it will cause congestion on the port path, thereby affecting the overall processing efficiency. The radioactive samples that are temporarily suspended from transportation stay at the receiving end to wait in line, or wait on the running path. For the radioactive sample processing device, there is no substantial difference between the two. However, in terms of transportation effect, the latter has obvious advantages, which can reduce the transportation pressure of the port, thereby improving the overall rationality of transportation and reducing the risk of congestion.

[0066] In the present application, the global path can be distributed between the output end and the receiving end, and the transport vehicle can run freely on the global path. There are multiple cross nodes in the global path. When performing path planning, the shortest running path between two points can be planned based on the structural characteristics of the global path.

[0067] It can be understood that, when the entire running path of the transport vehicle and the intersection nodes between the paths are known, the planning of the optimal path between two fixed points can be implemented in a variety of ways, and can be implemented with the help of a variety of algorithms, such as annealing algorithm, grid method, neural network algorithm, genetic algorithm, etc., and can also refer to global path planning schemes in other fields, such as global path planning of robots, to achieve the shortest running path between two points.

[0068] However, it should be noted that the path planning in this application should take existing routes into consideration, that is, possible conflicts between the operating path of the transport vehicle already in operation and the subsequently planned path, such as the intervention or reuse of the paths between the later transport vehicle and the previous transport vehicle at the same time node.

[0069] In the embodiment of the present application, multiple output terminals and multiple receiving terminals are included. Each output terminal may establish a transit relationship with any receiving terminal. Therefore, an optimal path should be planned between each output terminal and each receiving terminal, and a single mapping relationship should be established. After the transit relationship between the output terminal and the receiving terminal is determined, the optimal path between the two can be retrieved.

[0070] In a specific embodiment, after the optimal path planning is completed, the following steps are further included:

[0071] Outputting unique response information of each receiving end in sequence according to the position information of each receiving end in the global path;

[0072] Outputting unique identification information of each output terminal in sequence according to the position information of each output terminal in the global path;

[0073] Obtaining an optimal path between each output end and each receiving end; the optimal path is the shortest path between the output end and the receiving end;

[0074] An index table of the optimal path is established with the identification information as a search item, the response information as a verification item, and the optimal path as an output item.

[0075] In the embodiment of the present application, the setting of the global path is relatively fixed, and the receiving end and the output end can be serially numbered and encoded according to their position information in the global path, so that each receiving end and the output end has a unique identification code. When the identification code is obtained, the port corresponding to the identification code can be known.

[0076] Exemplarily, each output end may correspond to unique identification information, and each receiving end may correspond to unique response information, and an index form of the optimal path is established with the identification information as the search item, the response information as the verification item, and the optimal path between the two as the output item.

[0077] In specific implementation, after the output end establishes a transfer relationship with a certain receiving end, the identification information and response information can be extracted, and the optimal path between the two can be directly obtained from the index form.

[0078] S102: When it is detected that a transport vehicle has completed loading, a receiving end with the shortest receiving delay is selected as the transport vehicle's delivery target.

[0079] In an embodiment of the present application, the receiving delay is calculated based on the receiving speed of the radioactive samples at the receiving end and the inventory of the radioactive samples; the receiving speed is the processing speed of the radioactive samples by the processing device, and under normal circumstances, the receiving speed tends to be stable (the replacement process of the carrier containing the radioactive samples can be considered to obtain the average speed); the radioactive samples are contained in the carrier during the transportation process, and the capacity of each carrier may be the same or different, but its standard capacity can be identified according to the label on the carrier, or its actual capacity can be obtained by weighing; when the receiving speed is known, it is only necessary to determine the inventory of the radioactive samples at the receiving end to calculate the receiving delay.

[0080] There may be multiple carriers for radioactive samples on the transport vehicle. The carriers may be in the form of bottles, cans, etc., but they should be closable and opened during the processing of the processing device. The carriers are also in a closed state when temporarily stored in the processing device. When the carriers are transferred from the transport vehicle to the processing device, they can be grabbed and placed by a manipulator. When all the carriers on the transport vehicle are grabbed, the transport vehicle can be returned for secondary use.

[0081] Each transport vehicle can set a loading weight according to the number of carriers carried on it, the capacity of the carriers, etc., as a reference value for the full load of the transport vehicle. When the weight of the transport vehicle reaches the standard, it can be transported to maximize the transport of radioactive samples each time.

[0082] In one possible implementation, step S102 specifically includes:

[0083] Presetting the loading mass of each of the transport vehicles;

[0084] When it is detected that the weight of a transport vehicle reaches the loading mass corresponding to the transport vehicle, the transport vehicle completes loading;

[0085] Obtaining identification information of the output end corresponding to the transport vehicle when loading is completed, and determining the output end of the transport vehicle;

[0086] Selecting the receiving end with the shortest receiving delay as the transport target of the transport vehicle, and extracting the response information of the transport target;

[0087] Based on the identification information and the response information, the optimal path of the current transport vehicle between the output end and the transport target is obtained through the index form.

[0088] It should be noted that the loading mass of the transport vehicle is determined based on the number of vehicles carried and the capacity of the vehicles. Therefore, when the vehicles carried on the transport vehicle are different, the loading mass of the transport vehicle should also be adjusted accordingly; that is, the loading mass of the transport vehicle may change each time, and the loading mass parameter can be updated after the transport vehicle completes the loading of the vehicles.

[0089] There is a corresponding relationship between the transport vehicle and the output end. Generally, the vehicles carried on the transport vehicle all receive radioactive samples at one output end, and there is a single corresponding relationship between the transport vehicle and the output end. Of course, a transport vehicle can also receive radioactive samples at different output ends in succession, but when performing path planning, the last output end can be used as the starting point for path planning. At the same time, when establishing a transfer relationship for radioactive samples at the selected receiving end, the last output end is also used as the basis, and the output end is the transfer starting point of the transport vehicle on the global path. Therefore, in an embodiment of the present application, the identification information of the output end corresponding to the transport vehicle is obtained when loading is completed, and an output end corresponding to the last time the transport vehicle receives the radioactive sample is determined as the output end of the path planning, and then the selected receiving end is used to obtain the optimal path.

[0090] After the transport target is selected, a stable transfer relationship is established between the output end and the receiving end, and the identification information and response information can be extracted, and the optimal path between the two can be obtained through the index form; however, this path may not be the final operating path for the transport vehicle.

[0091] In the embodiments of the present application, the receiving delay is the theoretical time required for the processing device to start processing the radioactive samples currently on the transport vehicle. The radioactive samples only need to be delivered to the processing device within this time. In the case where there are multiple receiving ends, the receiving delay should of course be as short as possible.

[0092] In a specific embodiment, selecting the receiving end with the shortest receiving delay as the transportation target of the transport vehicle specifically includes:

[0093] predefine the receiving speed of each receiving end for the radioactive sample;

[0094] Acquiring the inventory of the radioactive samples corresponding to each receiving end; the inventory includes the temporary storage of the radioactive samples transferred to the receiving end and the loading volume of the radioactive samples on the transport vehicle that has arrived at and selected the receiving end;

[0095] Calculating the receiving delay of each receiving end according to the receiving speed of the radioactive sample and the inventory;

[0096] The receiving end with the shortest receiving delay is selected as the transportation target of the transport vehicle.

[0097] In the present application, the number of production lines carried in the processing device corresponding to the receiving end may be different, the processing efficiency of the production lines may be different, and even the processing procedures for radioactive samples of different concentrations and qualities may be different, which will result in different receiving speeds; therefore, the receiving speed of each receiving end for radioactive samples can be predefined, and the inventory can be calculated based on the receiving speed to obtain the receiving delay.

[0098] Based on actual conditions, transport vehicles generally do not carry detection devices for radioactive samples, and therefore cannot determine the time required to process different radioactive samples; however, in the processing device, there is generally a detection device for radioactive samples, which can perform different processing procedures for different radioactive samples and have different receiving speeds; when this receiving speed is different from the receiving speed used to calculate the receiving delay, the receiving delay can be corrected, and the correction effect will be updated when determining the receiving speed of the radioactive samples in the next carrier.

[0099] To address this phenomenon, a relatively average receiving speed can be used to calculate the receiving delay, or targeted detection devices can be installed on the output end and its front-end equipment to conduct preliminary detection of the discharged radioactive samples, and then match the receiving speed of the processing device; after the radioactive samples are transferred to the transport vehicle through the output end, the receiving speed can be matched according to the detection results of the radioactive samples, and the receiving delay of each receiving end can be calculated.

[0100] It should be clear that the inventory at the receiving end should include radioactive samples that have been transferred to the processing equipment corresponding to the receiving end, radioactive samples on the transport vehicles that have arrived at the receiving end and are waiting in line, and radioactive samples on the transport vehicles that have selected the receiving end but have not arrived can also be counted as its inventory. However, when the transfer relationship is terminated, this data should be excluded synchronously and no longer included in the inventory at the receiving end.

[0101] It can be understood that when establishing a transfer relationship, in order to determine the optimal path, it is based on the output end and the receiving end, but after the optimal path is determined, the transfer relationship should be converted into a transfer relationship between the transport vehicle and the transportation target; when the vehicle on the transport vehicle completes the transfer, the transfer relationship between the transport vehicle and the receiving end can be released.

[0102] S103. Delay expansion of the operating parameters of the transport vehicle according to the receiving delay, so that the transport vehicle meets the receiving requirements when it arrives at the transportation target.

[0103] In an embodiment of the present application, the operating parameters include an optimal path and / or an operating speed; when performing delay extension, one of the parameters may be selected for delay extension, or both parameters may be selected for delay extension at the same time.

[0104] In the present application, meeting the receiving requirements at least includes: the waiting time for receiving after the transport vehicle arrives at the delivery target does not exceed the preset waiting time limit; to meet the continuous demand of the receiving end for radioactive samples so that the processing device does not sit idle.

[0105] After the transport vehicle arrives at the delivery target, if there is no queue, the processing device will transfer the radioactive samples to the internal temporary storage area until the temporary storage area is full; during this process, the processing device can continue to process the radioactive samples and continue to receive radioactive samples; when the temporary storage area is full, the external radioactive samples will no longer be transferred to the inside, and the transport vehicle that arrives at this time will wait in line outside; when the inventory in the temporary storage area is consumed to a certain extent, the radioactive samples on the transport vehicle at the front of the external queue will be transferred to the temporary storage area.

[0106] In an embodiment of the present application, after determining the output end and the receiving end (delivery target) of the transport vehicle, the optimal path between the two can be obtained. However, if it is operated according to the optimal path, it is easy to cause congestion of multiple transport vehicles at the receiving end, and there may also be interference with transport vehicles at other receiving ends. In this case, the present application delays the operation parameters of the transport vehicle to delay the arrival of the transport vehicle at the receiving end within a reasonable range, increase the path of the transport vehicle, reduce the operating speed of the transport vehicle, and increase the operating gap between the transport vehicles, thereby achieving the effect of reducing congestion.

[0107] In one possible implementation, step S103 specifically includes:

[0108] Presetting a standard speed for the transport vehicle when it runs in the global path;

[0109] Delaying the operation parameters of the transport vehicle according to the receiving delay includes:

[0110] Preset a waiting time limit for the queuing time for the transport vehicle to be received after arriving at the transport destination;

[0111] Calculating the running time required for the transport vehicle to run to the transport destination along the optimal path and at the standard speed;

[0112] Calculate the difference between the receiving delay and the running time, and determine whether the difference is less than the waiting time limit:

[0113] If yes, the delay extension is not responded to, and the transport vehicle runs along the optimal path and standard speed;

[0114] If not, the operation parameters of the transport vehicle are extended with a delay to increase the operation time of the transport vehicle so that the transport vehicle meets the receiving requirements when it arrives at the delivery destination;

[0115] In this application, the running time of the transport vehicle is calculated based on the optimal path and standard speed. However, in actual situations, the optimal path may be partially occupied. In this case, this problem should be avoided when performing delay extension; or after obtaining the optimal path, the operation of the transport vehicle is rehearsed. When there is a collision or interference, the optimal path is replanned. However, the re-planned optimal path only serves the needs of this operation (such as serving as the final path, performing delay extension, etc.) and is not entered into the index form.

[0116] In an embodiment of the present application, delay extension includes: increasing the running path of the transport vehicle and / or reducing the running speed of the transport vehicle based on the optimal path.

[0117] Exemplarily, the reduction of the transport vehicle's operating speed can be an overall reduction or a partial reduction. For example, taking operation along the optimal path as an example, the transport vehicle's operating speed on the entire optimal path can be reduced, and no adjustments will be made; the operating speed of the front half of the transport vehicle can also be reduced, and the operating speed of the second half can be restored to the standard speed.

[0118] In a preferred embodiment, when running at a node where paths intersect, a node speed that facilitates rapid path change can be set. The node speed can be equivalent to the standard speed, so as to achieve rapid path change while reducing the operating speed, improve node utilization efficiency, and avoid congestion.

[0119] In specific implementation, the standard speed may include a node speed and a path speed, wherein the node speed remains unchanged and the path speed is the operating speed to be reduced when the delay is extended. The operating speed may be reduced to zero.

[0120] Exemplarily, the operating path of the transport vehicle can be increased based on the optimal path. The nodes based on the global path can be expanded in real time according to the global path at the nodes passed by the optimal path, so that the operating path of the transport vehicle is increased to increase the operating time. However, the expanded route should not interfere with the routes of other transport vehicles at the same time node.

[0121] The starting node of the path extension can be any node on the optimal path except the starting point and the end point, and the end point of the path extension can be a node located after the starting node, so as to avoid safety accidents and data confusion caused by the reverse operation of the transport vehicle.

[0122] Exemplarily, the purpose of path expansion is to increase the operating time of the transport vehicle while reducing the occupancy of the path as much as possible. Thus, a section of the path can be selected on the optimal path, so that the transport vehicle can reciprocate on the section of the path without running in the opposite direction. The section of the path can span multiple intersection nodes, so that the transport vehicle can reciprocate on it while also leaving a feasible path for other transport vehicles to avoid.

[0123] Exemplarily, the reduction of the operating speed and the increase of the operating path can be implemented simultaneously or separately, in order to increase the operating time of the transport vehicle so that the transport vehicle can be fully loaded with receiving requirements when it arrives at the delivery target and fully loaded with the demand for radioactive samples from the processing device, so that the processing device is always in an operating state.

[0124] In a feasible embodiment, the transport vehicle can stop running on the path, and the path section can be a section on the optimal path or a section on the extended path; directly waiting for the reception delay can reduce energy consumption. However, this will inevitably cause the path to be blocked. During the time it occupies, the path section is blocked and cannot be used by other transport vehicles; if it is in a moving state, the path section can be used by other transport vehicles at different time nodes.

[0125] In this application, the loading mass of the transport vehicle varies each time. In special circumstances, the transport vehicle may not be fully loaded, such as when the discharge task of nuclear waste liquid is completed, but the transport vehicle is not fully loaded. At this time, the transfer operation should also be carried out to transfer the radioactive samples to the treatment device for treatment. Therefore, the standard speed can be adjusted according to the actual load of the transport vehicle. For example, when the actual load reaches the preset loading mass, the standard speed can be the minimum; when the actual load does not reach the loading mass, the standard speed can be increased. Of course, the speed limit problem when some carriers are empty should be considered to avoid the carrier from falling.

[0126] In an embodiment of the present application, after the final path of the transport vehicle is determined, it can run on the global path. In order to ensure that the running path of the transport vehicle is accurate and error-free, a detection device for identifying the transport vehicle can be installed on existing equipment, and the waypoints of the transport vehicle can be tracked to determine the correctness of the running route of the transport vehicle.

[0127] In a specific embodiment, the operation route tracking and warning of the transport vehicle specifically includes:

[0128] Obtaining a final path of the transport vehicle, wherein the final path is the optimal path or the path after the delay extension;

[0129] Based on the global path, outputting the sequence of electromagnetic doors that the transport vehicle passes through when running along the final path;

[0130] Obtaining a door-passing signal of the transport vehicle, wherein the door-passing signal is obtained by the electromagnetic door detecting / scanning the transport vehicle;

[0131] When the gate-passing signal does not match the path sequence, an abnormal alarm is issued;

[0132] When the transition signal matches the path sequence, no response is given.

[0133] In the present application, when the global path passes through different areas, there will be an electromagnetic gate to block it. The electromagnetic gate can perform local blocking when a safety hazard occurs, thereby preventing the hazard from expanding and reducing losses. A detection device can be set based on the electromagnetic gate. The detection device may include a scanning module and an identification module. The scanning module is used to obtain the logo on the transport vehicle, and the identification module is used to identify the content of the logo. The content of the logo may include the loading mass, actual load weight, the number of the transport vehicle, etc. According to the setting position of the detection device, the route of the transport vehicle can be obtained in an orderly manner, and then it can be determined whether the actual operation route of the transport vehicle matches the final path.

[0134] Exemplarily, a detection device may be installed at each node of the global path, so as to more effectively and accurately determine the actual operation path of the transport vehicle.

[0135] After the abnormal alarm is issued, a staff member can manually remotely control the abnormally operating transport vehicle to reset it for maintenance; or remotely control it to the predetermined transportation target, and reset the transport vehicle for maintenance after completing the transfer of the radioactive samples.

[0136] In a feasible embodiment, an autonomous correction strategy for the transport vehicle can also be constructed. When a path error occurs, the path can be corrected autonomously to return to the correct operation path. This can be implemented based on the detection device carried by the node, and the orientation can be determined based on the waypoints that have been passed, and the correct operation path can be returned. In this process, its operation weight is reduced to avoid the path for other transport vehicles; after the correction is completed, its operation weight can be restored.

[0137] The following will be combined with the attached Figure 2 , the path planning device for the nuclear power plant radioactive sample transport vehicle provided in the embodiment of the present application is introduced in detail. It should be noted that the attached Figure 2 The path planning device of the nuclear power plant radioactive sample transport vehicle shown is used to implement the present application Figure 1 For the convenience of explanation, only the part related to the embodiment of the present application is shown. For the specific technical details not disclosed, please refer to the present application. Figure 1 The embodiment shown.

[0138] See also Figure 2 , Figure 2 Schematic diagram of a path planning device for a nuclear power plant radioactive sample transport vehicle provided in an embodiment of the present application. Figure 2 As shown, the device comprises:

[0139] Path planning module 201: obtaining a global path of the transport vehicle between the output end and the receiving end of the radioactive sample, and planning an optimal path for the transport vehicle to run between each output end and each receiving end;

[0140] Target selection module 202: When a transport vehicle is detected to have completed loading, a receiving end with the shortest receiving delay is selected as the transport vehicle's delivery target; the receiving delay is calculated based on the receiving speed of the receiving end for the radioactive sample and the stock of the radioactive sample;

[0141] Delay extension module 203: Delay extension of the operating parameters of the transport vehicle according to the receiving delay, so that the transport vehicle meets the receiving requirements when it arrives at the delivery target; the operating parameters include the optimal path and / or the operating speed;

[0142] Meeting the receiving requirements at least includes: the waiting time for the transport vehicle to be received after arriving at the delivery target does not exceed the preset waiting time limit.

[0143] Those skilled in the art can clearly understand that the technical solutions of the embodiments of the present application can be implemented with the help of software and / or hardware. The "unit" and "module" in this specification refer to software and / or hardware that can independently complete or cooperate with other components to complete specific functions, where the hardware can be, for example, a field programmable gate array (Field-Programmable Gate Array, FPGA), an integrated circuit (Integrated Circuit, IC), etc.

[0144] Each processing unit and / or module of the embodiments of the present application may be realized by an analog circuit that implements the functions described in the embodiments of the present application, or may be realized by software that executes the functions described in the embodiments of the present application.

[0145] See also Figure 3 , which shows a schematic diagram of the structure of an electronic device involved in an embodiment of the present application, the electronic device can be used to implement Figure 1 The method in the embodiment shown. Figure 3 As shown, the electronic device 300 may include: at least one central processor 301 , at least one network interface 304 , a user interface 303 , a memory 305 , and at least one communication bus 302 .

[0146] The communication bus 302 is used to realize the connection and communication between these components.

[0147] The user interface 303 may include a display screen (Display) and a camera (Camera). The optional user interface 303 may also include a standard wired interface and a wireless interface.

[0148] The network interface 304 may optionally include a standard wired interface or a wireless interface (such as a WI-FI interface).

[0149] Among them, the central processing unit 301 may include one or more processing cores. The central processing unit 301 uses various interfaces and lines to connect various parts of the entire electronic device 300, and executes various functions and processes data of the terminal 300 by running or executing instructions, programs, code sets or instruction sets stored in the memory 305, and calling data stored in the memory 305. Optionally, the central processing unit 301 can be implemented in at least one hardware form of digital signal processing (Digital Signal Processing, DSP), field programmable gate array (Field-Programmable Gate Array, FPGA), and programmable logic array (Programmable Logic Array, PLA). The central processing unit 301 can integrate one or a combination of a central processing unit (Central Processing Unit, CPU), a graphics central processing unit (Graphics Processing Unit, GPU) and a modem. Among them, the CPU mainly processes the operating system, user interface and application programs; the GPU is responsible for rendering and drawing the content to be displayed on the display screen; the modem is used to process wireless communication. It can be understood that the above-mentioned modem may not be integrated into the central processing unit 301, and it can be implemented separately through a chip.

[0150] Among them, the memory 305 may include a random access memory (Random Access Memory, RAM) and may also include a read-only memory (Read-Only Memory). Optionally, the memory 305 includes a non-transitory computer-readable storage medium. The memory 305 can be used to store instructions, programs, codes, code sets or instruction sets. The memory 305 may include a program storage area and a data storage area, wherein the program storage area may store instructions for implementing an operating system, instructions for at least one function (such as a touch function, a sound playback function, an image playback function, etc.), instructions for implementing the above-mentioned method embodiments, etc.; the data storage area may store data involved in the above-mentioned method embodiments, etc. The memory 305 may optionally be at least one storage device located away from the aforementioned central processor 301. As Figure 3 As shown, the memory 305 as a computer storage medium may include an operating system, a network communication module, a user interface module, and program instructions.

[0151] exist Figure 3In the electronic device 300 shown, the user interface 303 is mainly used to provide an input interface for the user and obtain the data input by the user; and the central processor 301 can be used to call the path planning application of the nuclear power plant radioactive sample transport vehicle stored in the memory 305, and specifically perform the following operations:

[0152] Obtain the global path of the transport vehicle between the output end and the receiving end of the radioactive sample, and plan the optimal path for the transport vehicle to run between each output end and each receiving end;

[0153] When a transport vehicle is detected to have completed loading, the receiving end with the shortest receiving delay is selected as the transport vehicle's delivery target; the receiving delay is calculated based on the receiving speed of the receiving end for the radioactive sample and the stock of the radioactive sample;

[0154] Delaying and extending the operating parameters of the transport vehicle according to the receiving delay so that the transport vehicle meets the receiving requirements when it arrives at the delivery target; the operating parameters include the optimal path and / or operating speed;

[0155] Meeting the receiving requirements at least includes: the waiting time for the transport vehicle to be received after arriving at the delivery target does not exceed the preset waiting time limit.

[0156] The present application also provides a computer-readable storage medium on which a computer program is stored, and when the program is executed by a processor, the steps of the above method are implemented. The computer-readable storage medium may include, but is not limited to, any type of disk, including a floppy disk, an optical disk, a DVD, a CD-ROM, a micro drive, and a magneto-optical disk, a ROM, a RAM, an EPROM, an EEPROM, a DRAM, a VRAM, a flash memory device, a magnetic card or an optical card, a nanosystem (including a molecular memory IC), or any type of medium or device suitable for storing instructions and / or data.

[0157] It should be noted that, for the aforementioned method embodiments, for the sake of simplicity, they are all expressed as a series of action combinations, but those skilled in the art should be aware that the present application is not limited by the described order of actions, because according to the present application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present application.

[0158] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0159] In the several embodiments provided in the present application, it should be understood that the disclosed devices can be implemented in other ways. For example, the device embodiments described above are only schematic, such as the division of the units, which is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some service interfaces, and the indirect coupling or communication connection of devices or units can be electrical or other forms.

[0160] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0161] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0162] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable memory. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a memory, including a number of instructions to enable a computer device (which can be a personal computer, server or network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned memory includes: U disk, read-only memory (ROM), random access memory (RAM), mobile hard disk, disk or optical disk and other media that can store program code.

[0163] A person skilled in the art may understand that all or part of the steps in the various methods of the above embodiments may be completed by entering a program to instruct the relevant hardware. The program may be stored in a computer-readable memory, and the memory may include: a flash drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, etc.

[0164] The above is only an exemplary embodiment of the present disclosure, and the scope of the present disclosure cannot be limited thereto. That is, any equivalent changes and modifications made according to the teachings of the present disclosure are still within the scope of the present disclosure. After considering the specification and practicing the disclosure here, those skilled in the art will easily think of the implementation scheme of the present disclosure. This application is intended to cover any modification, use or adaptation of the present disclosure, which follows the general principles of the present disclosure and includes common knowledge or customary technical means in the technical field not recorded in the present disclosure. The description and examples are regarded as exemplary only, and the scope and spirit of the present disclosure are defined by the claims.

Claims

1. A path planning method for a radioactive sample transport vehicle in a nuclear power plant, characterized in that: The method comprises: Obtaining a global path of the transport vehicle between the output end and the receiving end of the radioactive sample, and planning an optimal path for the transport vehicle to run between each output end and each receiving end; When it is detected that a transport vehicle has completed loading, the receiving end with the shortest receiving delay is selected as the transport target of the transport vehicle; the receiving delay is calculated based on the receiving speed of the receiving end for the radioactive sample and the stock of the radioactive sample; Delaying and extending the operating parameters of the transport vehicle according to the receiving delay, so that the transport vehicle meets the receiving requirements when arriving at the delivery target; the operating parameters include the optimal path and / or operating speed; Meeting the receiving requirement at least includes: the waiting time for receiving after the transport vehicle arrives at the transport target does not exceed a preset waiting time limit.

2. The path planning method for a nuclear power plant radioactive sample transport vehicle according to claim 1, characterized in that: After the optimal path is planned, the following steps are also required: Outputting unique response information of each receiving end in sequence according to the position information of each receiving end in the global path; Outputting unique identification information of each output terminal in sequence according to the position information of each output terminal in the global path; Obtaining an optimal path between each output end and each receiving end; the optimal path is the shortest path between the output end and the receiving end; An index table of the optimal path is established with the identification information as a search item, the response information as a verification item, and the optimal path as an output item.

3. The path planning method for a nuclear power plant radioactive sample transport vehicle according to claim 2, characterized in that: When it is detected that a transport vehicle has completed loading, the receiving end with the shortest receiving delay is selected as the transport target of the transport vehicle, specifically including: Presetting the loading mass of each of the transport vehicles; When it is detected that the weight of a transport vehicle reaches the loading mass corresponding to the transport vehicle, the transport vehicle completes loading; Obtaining identification information of the output end corresponding to when the transport vehicle completes loading, and determining the output end of the transport vehicle; Selecting the receiving end with the shortest receiving delay as the transport target of the transport vehicle, and extracting the response information of the transport target; Based on the identification information and the response information, the optimal path of the current transport vehicle between the output end and the transport target is obtained through the index form.

4. The path planning method for a nuclear power plant radioactive sample transport vehicle according to claim 1, characterized in that: Selecting the receiving end with the shortest receiving delay as the transportation target of the transport vehicle specifically includes: predefine the receiving speed of each receiving end for the radioactive sample; Acquiring the inventory of the radioactive samples corresponding to each receiving end; the inventory includes the temporary storage of the radioactive samples transferred to the receiving end and the loading volume of the radioactive samples on the transport vehicle that has arrived at and selected the receiving end; Calculating the receiving delay of each receiving end according to the receiving speed of the radioactive sample and the inventory; The receiving end with the shortest receiving delay is selected as the transportation target of the transport vehicle.

5. The path planning method for a nuclear power plant radioactive sample transport vehicle according to claim 4, characterized in that: Delaying and extending the operating parameters of the transport vehicle according to the receiving delay so that the transport vehicle meets the receiving requirements when arriving at the delivery target, specifically includes: Presetting a standard speed for the transport vehicle when it runs in the global path; Delaying the operation parameters of the transport vehicle according to the receiving delay includes: Preset a waiting time limit for the queuing time of the transport vehicle after it arrives at the transport target; calculate the running time required for the transport vehicle to run to the transport target along the optimal path and the standard speed; Calculate the difference between the receiving delay and the running time, and determine whether the difference is less than the waiting time limit: If yes, the delay extension is not responded to, and the transport vehicle runs along the optimal path and standard speed; If not, the operation parameters of the transport vehicle are extended with a delay to increase the operation time of the transport vehicle so that the transport vehicle meets the receiving requirements when it arrives at the delivery destination; The delay extension includes: increasing the running path of the transport vehicle and / or reducing the running speed of the transport vehicle based on the optimal path.

6. The path planning method for a nuclear power plant radioactive sample transport vehicle according to claim 5, characterized in that: Also includes: Obtaining a final path of the transport vehicle, wherein the final path is the optimal path or the path after the delay extension; Based on the global path, outputting the sequence of electromagnetic doors that the transport vehicle passes through when running along the final path; Obtaining a door-passing signal of the transport vehicle, wherein the door-passing signal is obtained by the electromagnetic door detecting / scanning the transport vehicle; When the gate-passing signal does not match the path sequence, an abnormal alarm is issued; When the transition signal matches the path sequence, no response is given.

7. The path planning method for a nuclear power plant radioactive sample transport vehicle according to claim 5, characterized in that: Also includes: The actual load of the transport vehicle is obtained, and the standard speed is adjusted according to the actual load.

8. A path planning device for a radioactive sample transport vehicle in a nuclear power plant, characterized in that: include: Path planning module: obtain the global path of the transport vehicle between the output end and the receiving end of the radioactive sample, and plan the optimal path for the transport vehicle to run between each output end and each receiving end; Target selection module: When a transport vehicle is detected to have completed loading, the receiving end with the shortest receiving delay is selected as the transport vehicle's delivery target; the receiving delay is calculated based on the receiving speed of the receiving end for the radioactive samples and the inventory of the radioactive samples; Delay extension module: Delay extension of the operating parameters of the transport vehicle according to the receiving delay, so that the transport vehicle meets the receiving requirements when it arrives at the transportation target; the operating parameters include the optimal path and / or operating speed; meeting the receiving requirements at least includes: the waiting time for the transport vehicle to be received after arriving at the transportation target does not exceed the preset waiting time limit.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 7 are implemented. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

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