Nuclear island navigation system, method, equipment and medium

Abstract

The invention relates to the technical field of nuclear power path navigation, in particular to a nuclear island navigation system, method, equipment and medium, the nuclear island navigation system comprises a map construction module, a position positioning module, a target query module, a path planning navigation module and a path feasibility judgment module, and a nuclear island three-dimensional map is constructed through the map construction module; start point position information of a maintainer is determined through a position positioning module, a target end point position of the maintainer is determined through a target query module, and all selectable routes from the start point position information to the target end point position are determined through a route planning navigation module according to the start point position information and the target end point position. According to the route feasibility judgment module, the route with the shortest distance and / or the least time is determined from all the selectable routes according to the route feasibility information corresponding to each selectable route to serve as the target navigation route, so that it is ensured that the optimal route can be planned when the robot passes through the closed area, and the equipment inspection work efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the field of nuclear power path navigation technology, and in particular to a nuclear island navigation system, method, equipment and medium. Background Art

[0002] Nuclear power plants have many types of equipment, small size, complex distribution, and high environmental radiation intensity. The equipment inspection work on site of nuclear power plants has problems such as difficult location confirmation, unfamiliar routes, and high environmental doses. Especially during overhaul, after entering the designated area, the staff often need to rely on personal experience or repeatedly consult the flow chart to complete the equipment positioning. Especially in special situations such as blurred or lost valve / instrument labels and equipment blocked by SARS sheds, the difficulty of equipment positioning increases significantly, which may not only affect the efficiency of the key path of the overhaul, but also cause unnecessary radiation exposure to the staff.

[0003] The existing nuclear island navigation system calculates the best path when planning the navigation path. However, when the best path passes through a closed area (an area temporarily closed due to flaw detection or other needs during overhaul), it directly bypasses it and does not consider the timeliness of the closed area. This will exclude paths that could have been closer and better, making the "optimal path" no longer optimal. Therefore, there is an urgent need to provide a faster and more accurate nuclear island navigation system to ensure that the optimal path can be planned when passing through a closed area, thereby improving the efficiency of equipment inspection work. This is a problem that needs to be urgently solved by technical personnel in this field. Summary of the invention

[0004] Based on this, it is necessary to address the above technical issues. The embodiments of the present invention provide a nuclear island navigation system, device, equipment and medium to ensure that the optimal path can be planned when passing through closed areas, thereby improving the efficiency of equipment inspection work.

[0005] A first aspect of an embodiment of the present application provides a nuclear island navigation system, the map construction module, the position positioning module, the target query module, the path planning and navigation module and the path feasibility judgment module; The map construction module is used to construct a three-dimensional map of the nuclear island based on the spatial structure information, equipment layout information, piping system information and functional area information of the nuclear island; The position positioning module is used to determine the starting position information of the maintenance personnel according to the current scene information of the maintenance personnel and the three-dimensional map of the nuclear island; The target query module is used to input keyword information of the target maintenance equipment to be queried, and determine the target destination position of the maintenance personnel according to the queried target maintenance equipment and the three-dimensional map of the nuclear island; The path planning and navigation module is used to plan the route of the equipment to be inspected according to the starting point location information and the target end point location using a preset path planning algorithm, and determine all optional routes that can reach the target end point location from the starting point location information; The path feasibility judgment module is used to obtain the path feasibility information corresponding to each optional route, and based on the path feasibility information corresponding to each optional route, determine the path with the shortest distance and / or the least time from all the optional routes as the target navigation route.

[0006] Optionally, the nuclear island navigation system also includes a permission management module, which is used to limit the user rights of the nuclear island navigation system. The user rights include administrator rights and ordinary user rights. The administrator rights are set from the bottom layer of the permission management module, and the ordinary user rights are set by the administrator.

[0007] Optionally, the nuclear island navigation system also includes an information display module, which is used to query and display nuclear power plant related production information, provide an information query menu, query and obtain a number of nuclear island work tickets, radiation hotspots, and radiation zoning information from the nuclear power database through an external data interface, and graphically mark the information at the corresponding position on the nuclear island three-dimensional map.

[0008] Optionally, the nuclear island navigation system further includes a three-dimensional marking module, which is used to mark the starting position information of the maintenance personnel, the target end position of the maintenance personnel and each equipment to be maintained in the three-dimensional map of the nuclear island.

[0009] Optionally, the nuclear island navigation system further includes a data maintenance module, which is used for modifying and maintaining nuclear power plant data and supports publishing the modified nuclear island three-dimensional map and data updates to the server.

[0010] Optionally, the nuclear island navigation system also includes a voice navigation module, which is used to provide maintenance personnel with voice prompts in four directions of travel: forward, backward, turn left, and turn right, and to issue a voice warning prompt when there is a live area within 2 meters around the maintenance personnel or when passing through a live area, so as to guide the maintenance personnel to move safely.

[0011] Optionally, the path feasibility information corresponding to each optional route includes: Determine whether the current optional route passes through the enclosed area; If the current optional route passes through the enclosed area, then the distance from the starting position information of the maintenance personnel to the enclosed area is calculated; Determining whether the distance is greater than or equal to a preset distance threshold; If the distance is greater than or equal to the preset distance threshold, then calculating the target time for the starting position information of the maintenance personnel to arrive at the enclosed area; comparing the target time with the remaining release time of the enclosed area; If the target time is greater than the remaining release time, determining that the current optional route meets the feasibility requirement; If the target time is less than the remaining release time, it is determined that the current optional route does not meet the feasibility requirement.

[0012] A second aspect of an embodiment of the present application provides a nuclear island navigation method, the nuclear island navigation method comprising: Obtain starting point location information, target end point location and nuclear island three-dimensional map; According to the three-dimensional map of the nuclear island, a preset path planning algorithm is used to determine all optional routes from the starting position information to the target end position; Obtaining path feasibility information corresponding to each optional route, wherein the path feasibility information is whether the current optional route meets the feasibility requirement; According to the path feasibility information corresponding to each optional route, a path with the shortest distance and / or the shortest time is determined from all the optional routes as the target navigation route.

[0013] In a third aspect, a computer device is provided, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the nuclear island navigation system as described in the first aspect when executing the computer program.

[0014] In a fourth aspect, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the nuclear island navigation system as described in the first aspect is implemented.

[0015] In summary, the present invention provides a nuclear island navigation system, a navigation method, a device and a medium. The nuclear island navigation system includes a map construction module, a position positioning module, a target query module, a path planning navigation module and a path feasibility judgment module. The map construction module is used to construct a three-dimensional map of the nuclear island according to the spatial structure information, equipment layout information, pipeline system information and functional area information of the nuclear island. The position positioning module is used to determine the starting position information of the maintenance personnel according to the current scene information of the maintenance personnel and the three-dimensional map of the nuclear island. The target query module is used to input the keyword information of the target maintenance equipment to be queried, and determine the target terminal position of the maintenance personnel according to the query of the target maintenance equipment and the three-dimensional map of the nuclear island. The path planning navigation module is used to plan the route of the maintenance equipment according to the starting position information and the target terminal position using a preset path planning algorithm, and determine all optional routes that can reach the target terminal position from the starting position information. The path feasibility judgment module is used to obtain the path feasibility information corresponding to each optional route, and according to the path feasibility information corresponding to each optional route, determine the path with the shortest distance and / or the least time from all optional routes as the target navigation route. It can be seen that the present application determines the path with the shortest distance and / or the least time as the target navigation route from all optional routes based on the path feasibility information corresponding to each optional route, thereby ensuring that the optimal path can be planned when passing through closed areas and improving the efficiency of equipment inspection work. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments of the present invention will be briefly introduced below. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative labor.

[0017] Figure 1 It is a structural schematic diagram of a nuclear island navigation system provided by one embodiment of the present invention; Figure 2 It is a flowchart of a nuclear island navigation method provided by one embodiment of the present invention; Figure 3 It is a structural schematic diagram of a computer device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0018] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technical personnel in this field without creative work are within the scope of protection of the present invention.

[0019] It should be understood that when used in the present specification and the appended claims, the term "comprising" indicates the presence of described features, integers, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or combinations thereof.

[0020] It should also be understood that the term "and / or" used in the present description and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

[0021] As used in the present specification and the appended claims, the term “if” may be interpreted as “when” or “uponce” or “in response to determining”, depending on the context. Similarly, the phrases “if it is determined” or “if matched to [described condition or event]” may be interpreted as meaning “upon determination” or “in response to determination” or “uponce matched to [described condition or event]” or “in response to matching to [described condition or event]”, depending on the context.

[0022] In addition, in the description of the present specification and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.

[0023] References to "one embodiment" or "some embodiments" etc. described in the present specification mean that one or more embodiments of the present invention include specific features, structures or characteristics described in conjunction with the embodiment. Therefore, the statements "in one embodiment", "in some embodiments", "in some other embodiments", "in some other embodiments", etc. that appear in different places in this specification do not necessarily refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways. The terms "including", "comprising", "having" and their variations all mean "including but not limited to", unless otherwise specifically emphasized in other ways.

[0024] It should be understood that the order of execution of the steps in the following embodiments does not imply a precedence of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

[0025] In order to illustrate the technical solution of the present invention, specific embodiments are provided below for illustration.

[0026] See also Figure 1 , is a schematic diagram of the structure of a nuclear island navigation system provided by an embodiment of the present invention, such as Figure 1As shown, the nuclear island navigation system includes a map construction module, a position positioning module, a target query module, a path planning and navigation module, and a path feasibility judgment module; The map construction module is used to construct a three-dimensional map of the nuclear island based on the spatial structure information, equipment layout information, piping system information and functional area information of the nuclear island; The position positioning module is used to determine the starting position information of the maintenance personnel according to the current scene information of the maintenance personnel and the three-dimensional map of the nuclear island; The target query module is used to input keyword information of the target maintenance equipment to be queried, and determine the target destination position of the maintenance personnel according to the queried target maintenance equipment and the three-dimensional map of the nuclear island; The path planning and navigation module is used to plan the route of the equipment to be inspected according to the starting point location information and the target end point location using a preset path planning algorithm, and determine all optional routes that can reach the target end point location from the starting point location information; The path feasibility judgment module is used to obtain the path feasibility information corresponding to each optional route, and based on the path feasibility information corresponding to each optional route, determine the path with the shortest distance and / or the least time from all the optional routes as the target navigation route.

[0027] In this embodiment, the map construction module is used to construct a three-dimensional map of the nuclear island according to the spatial structure information, equipment layout information, piping system information and functional area information of the nuclear island, wherein the spatial structure information of the nuclear island includes the reactor building (containment), the equipment layout information of the nuclear island includes the reactor, steam generator, pressurizer, main pump and safety system equipment, etc., the piping system information of the nuclear island includes the primary system and auxiliary system piping, etc., the functional area information of the nuclear island includes the nuclear fission reaction area, the thermal energy conversion area, the safety protection area and the auxiliary facility area, etc., by adopting laser scanning + panoramic image + on-site photography and other methods to realize 1:1 restoration of the scene, collect the spatial structure, equipment layout, piping system and functional area information of the nuclear island, convert the format and standardize the information, and select a software suitable for three-dimensional modeling of nuclear power plants, such as PDS (Plant Design System), PDMS (Plant Design Management System), etc. In the 3D modeling software, according to the collected spatial structure information, the BIM model is used to build a 3D map of the nuclear island. The equipment models are added in sequence. According to the equipment layout information, each equipment is placed in the correct position and the corresponding pipelines are connected. According to the pipeline system information, each pipeline is drawn and connected to ensure that the direction and connection relationship of the pipeline are accurate. According to the functional area information, the model is partitioned, colored or labeled to more clearly display the functional layout of the nuclear island. The 1:1 3D map of the nuclear island that is highly consistent with the actual space can be established, so that the spatial structure, equipment layout, piping system, functional areas and other information of the nuclear island can be intuitively displayed, making it easier for relevant personnel to understand and grasp the overall layout and details of the nuclear island.

[0028] Furthermore, the position positioning module is used to determine the starting position information of the maintenance personnel based on the maintenance personnel's current scene information and the three-dimensional map of the nuclear island. The maintenance personnel manually input the starting position information directly or scan the on-site environment through the mobile terminal to confirm the starting point position. Among them, the on-site scanning obtains real-world information by utilizing the camera device of the mobile terminal, and integrates and processes it with VR data and navigation content. By analyzing the visual features and geometric relationships in the environment, combined with machine learning and image processing algorithms, the starting position is accurately positioned. That is, the camera of the mobile terminal will take images or videos of the surrounding environment in real time, capture the visual features (such as walls, equipment, signs, etc.) and geometric relationships (such as distances and angles between objects) in the environment. This information is the basis of positioning, similar to the human eye judging its own position by observing the surrounding environment. The VR data is a three-dimensional map of the nuclear island, and the navigation content refers to navigation-related information such as the planned path and target point location. The real environment information captured by the camera is then compared and integrated with the VR model and navigation content to find the correspondence between the two. The key feature points in the environment (such as equipment signs, pipeline directions, wall textures, etc.) are identified through image processing technology, and the spatial relationship between these feature points (such as distance, angle, relative position, etc.) is analyzed to construct the geometric structure of the environment. Then, combined with machine learning and image processing algorithms, the starting point position information of the maintenance personnel can be accurately positioned, the accuracy and robustness of positioning can be improved, and accurate starting point information can be provided for subsequent navigation.

[0029] Furthermore, the target query module is used to input keyword information of the target maintenance equipment to be queried, and determine the target end position of the maintenance personnel based on the queried target maintenance equipment and the three-dimensional map of the nuclear island, that is, by inputting the keyword information of the target maintenance equipment, the keyword information may include the equipment name, number, location description (such as room number, floor, area, etc.) or any details that can uniquely identify the location of the equipment, the target maintenance equipment can be searched, and fuzzy search can also be supported. When a small number of keywords are entered, the searched display related options list can be displayed in the form of a list. After obtaining the target maintenance equipment, the equipment identifier of the target maintenance equipment is extracted and matched in the three-dimensional map of the nuclear island. The three-dimensional map of the nuclear island should contain detailed information such as the precise location coordinates, room layout, floor structure, etc. of all equipment in the nuclear power plant. Through the matching process, the target location information of the target maintenance equipment, that is, the target end position of the maintenance personnel, can be determined, and the target location information determined by map annotation, coordinate display or text description can be presented to the maintenance personnel or management personnel in a clear and intuitive manner. Through the above steps, the target location information of the target maintenance equipment is determined by using the device identifier for precise matching, thus avoiding location errors or confusions and improving the efficiency and safety of subsequent maintenance work.

[0030] Furthermore, the path planning and navigation module is used to plan the route of the equipment to be repaired based on the starting point location information and the target end location using a preset path planning algorithm, and determine all optional routes that can reach the target end location from the starting point location information, that is, through the starting point location information and the target end location, an intelligent navigation path planning algorithm is used in combination with an intelligent device addressing algorithm for path planning, and multiple navigation routes can be planned. After the user selects the required route, the navigation path, indicator arrows, landmarks, etc. can be dynamically displayed, and the user can intuitively understand his position and direction of travel through mobile terminals such as mobile phones or other AR devices. Among them, it should be noted that the intelligent device addressing algorithm can use the Dijkstra algorithm, A* addressing algorithm or other heuristic search algorithm, and this application does not impose any restrictions on this.

[0031] Specifically, the A* addressing algorithm combines the advantages of the Dijkstra algorithm and the greedy best-first search, and can efficiently find the optimal path from the starting point to the target. Its formula is: ; in, It is expressed as the estimated total distance from the starting target node through the intermediate node n to the ending target node, represents the actual distance from the starting target node to the intermediate node n, It is expressed as the estimated distance from the intermediate node n to the terminal target node. The A* addressing algorithm considers various factors, such as distance, obstacles, elevator / stair location, etc., to find the fastest or shortest travel path. Calculate and store detailed information for each path, including the floors, rooms, and estimated travel time or distance passed through. Display the floor and room information passed through, as well as the total distance (in meters) and the distance between the rooms passed through in the navigation interface. Specifically, two lists are created: the OPEN table and the CLOSED table. The OPEN table is used to store all detectable but unvisited nodes, and the CLOSED table is used to store nodes that have been visited. The starting target node is added to the OPEN table, and its G value is set to 0 (the actual cost from the starting point to the node). At the same time, its H value (the estimated cost from the node to the end point) is calculated to obtain its F value. Then, the node with the smallest F value is selected from the OPEN table as the current node. Check whether the current node is the target node. If so, the path search is successful and the path is returned. The previous node is removed from the OPEN table and added to the CLOSED table. All neighbor nodes of the current node (i.e., nodes directly connected to the current node) are traversed. For each neighbor node, if it is already in the CLOSED table, the node is skipped. If the neighbor node is in the OPEN table, but the path to it through the current node is shorter than the original path in the OPEN table (i.e., the G value is smaller), the G value and F value of the neighbor node are updated, and its parent node is set as the current node. If the neighbor node is neither in the CLOSED table nor in the OPEN table, it is added to the OPEN table, and its G value, H value, and F value are set, and its parent node is set as the current node. Repeat the above steps until the target node is found or the OPEN table is empty (indicating that there is no way to go), thereby forming the final optimal path. It can be seen that the present application adopts an intelligent navigation path planning algorithm combined with an intelligent device addressing algorithm for path planning, globally optimizes the path sequence, ensures that the total path from the starting target node to the ending target node is optimal, reduces the travel distance and time of maintenance personnel, and improves the efficiency of nuclear island maintenance of nuclear power plants.

[0032] Further, the path feasibility judgment module is used to obtain the path feasibility information corresponding to each optional route. The path feasibility information indicates that the current optional route meets the feasibility requirements. By relying on the path feasibility information corresponding to each optional route, the path with the shortest distance and / or the least time consumption is determined as the target navigation route from all the optional routes. Among them, the path feasibility information corresponding to each optional route is obtained through the following method: Determine whether the current optional route passes through an enclosed area. If the current optional route passes through the enclosed area, calculate the distance from the starting position information of the maintenance personnel to the enclosed area, and determine whether the distance is greater than or equal to a preset distance threshold. If the distance is greater than or equal to the preset distance threshold, calculate the target time for the maintenance personnel's starting position information to reach the enclosed area, and compare the target time with the remaining release time of the enclosed area. If the target time is greater than the remaining release time, it is determined that the current optional route meets the feasibility requirements. If the target time is less than the remaining release time, it is determined that the current optional route does not meet the feasibility requirements. That is, by determining whether the current optional route passes through an enclosed area, if not, skip the following steps and perform normal navigation. If so, calculate the distance S from the starting position information to the enclosed area, and determine whether the distance is greater than or equal to the preset distance threshold. If the distance is greater than or equal to the preset distance threshold, calculate the time T1 (taking the conventional speed or setting it as a relatively fast moving speed, such as 1.5 m / s) required to move from the starting point to reach the enclosed area (i.e., the total distance S), and combine it with the remaining release time T2 of the enclosed area to compare T1 and T2. When T1 > T2, it is concluded that the current optional route is feasible. If T1 < T2, it is determined that the current optional route is not feasible, and at the same time, output the difference between T1 and T2, and then output the judgment result (displayed on the path selection interface): Passable, Passable after XX minutes. After obtaining the path feasibility information corresponding to each optional route, the path with the shortest distance and / or the least time consumption is determined as the target navigation route from all the optional routes. Through the above steps, the passability is linked to time, ensuring that non-passable or unreachable areas can be avoided during navigation. Furthermore, when passing through a closed area, the optimal path can be planned, improving the efficiency of equipment inspection work and making the navigation system more intelligent and accurate.

[0033] In summary, the present invention provides a nuclear island navigation system, a navigation method, a device and a medium. The nuclear island navigation system includes a map construction module, a position positioning module, a target query module, a path planning navigation module and a path feasibility judgment module. The map construction module is used to construct a three-dimensional map of the nuclear island according to the spatial structure information, equipment layout information, pipeline system information and functional area information of the nuclear island. The position positioning module is used to determine the starting position information of the maintenance personnel according to the current scene information of the maintenance personnel and the three-dimensional map of the nuclear island. The target query module is used to input the keyword information of the target maintenance equipment to be queried, and determine the target terminal position of the maintenance personnel according to the query of the target maintenance equipment and the three-dimensional map of the nuclear island. The path planning navigation module is used to plan the route of the maintenance equipment according to the starting position information and the target terminal position using a preset path planning algorithm, and determine all optional routes that can reach the target terminal position from the starting position information. The path feasibility judgment module is used to obtain the path feasibility information corresponding to each optional route, and according to the path feasibility information corresponding to each optional route, determine the path with the shortest distance and / or the least time from all optional routes as the target navigation route. It can be seen that the present application determines the path with the shortest distance and / or the least time as the target navigation route from all optional routes based on the path feasibility information corresponding to each optional route, thereby ensuring that the optimal path can be planned when passing through closed areas and improving the efficiency of equipment inspection work.

[0034] In some embodiments, the nuclear island navigation system also includes a permission management module, which is used to limit the user rights of the nuclear island navigation system. The user rights include administrator rights and ordinary user rights. The administrator rights are set from the bottom layer of the permission management module, and the ordinary user rights are set by the administrator.

[0035] Specifically, the authority management module is used to limit the user authority of the nuclear island navigation system, which includes administrator authority and ordinary user authority. Ordinary users can enter the nuclear island for maintenance work by entering the user name and password in the nuclear island navigation system under the authorization of the administrator. The administrator's user name and password must be set by the computer at the bottom layer of the authority management module, that is, the source program, that is, updated by importing EXCEL. At the same time, the administrator has the authority to register and cancel ordinary users, and also has all the authority of ordinary users, as well as the authority to update the substation location information, thereby preventing ordinary users from entering the nuclear island at will and ensuring the safety of the nuclear island.

[0036] In some embodiments, the nuclear island navigation system also includes an information display module, which is used to query and display nuclear power plant related production information, provide an information query menu, query and obtain a number of nuclear island work tickets, radiation hotspots, and radiation zoning information from the nuclear power database through an external data interface, and graphically mark the information at the corresponding position on the three-dimensional map of the nuclear island.

[0037] Specifically, the information display module obtains a number of nuclear island work tickets, radiation hot spots, and radiation partition information from the nuclear power database through an external data interface, and graphically marks the information at the corresponding position of the nuclear island three-dimensional map. The information display module includes three sub-modules: work order display, radiation hot spot display, and radiation partition display. The work order display sub-module provides a work order query and display function in the selected room. After the query, the work order icon under the current room is synchronously displayed, and the specific information of the work order is displayed. Different filtering conditions are set to display the work order of the day or the historical work order within a certain period of time; the radiation hot spot display sub-module provides a radiation hot spot query and display function under the selected elevation. After the query, the hot spot icon under the current elevation is synchronously displayed, and the dose rate level within a certain range near the hot spot is marked with different colors, and the specific value of the hot spot is displayed. The query filtering conditions can be set to display the measurement point data of different overhaul periods; the radiation partition display sub-module provides a dynamic radiation distribution display function under the selected elevation, which displays the radiation level distribution recorded during different overhaul periods, and displays the radiation level distribution of different colors drawn according to the measurement point index at the current elevation by covering it with semi-transparent color blocks. Through the above steps, maintenance personnel can quickly focus on key content, improve the efficiency of nuclear island information acquisition, and provide users with comprehensive, accurate and efficient information support.

[0038] In some embodiments, the nuclear island navigation system also includes a three-dimensional marking module, which is used to mark the starting position information of the maintenance personnel, the target end position of the maintenance personnel, and each equipment to be maintained in the three-dimensional map of the nuclear island.

[0039] Specifically, the three-dimensional marking module marks the starting position information of the maintenance personnel, the target end position of the maintenance personnel, and the equipment to be repaired in the three-dimensional map of the nuclear island. After clicking the three-dimensional marking module, the user's identity information will be checked first to determine whether the current operating user has the operation authority. Users who pass the identity check can enable the electronic fence drawing function on the system through the three-dimensional marking module: click the three-dimensional scene through the input end (mouse, touch screen), connect the lines in sequence, draw the fence polygon, and define the shape and range of the electronic fence in the three-dimensional interface; after the drawing is completed, set the relevant properties in the panel, including the fence name (such as "detection area"), effective time period (start time and end time), accessibility and authorization management (such as whitelist settings). After saving the settings, the module automatically uploads the data to the background management system and synchronizes the data to all users. It can be seen that through the verification of identity information, it is ensured that only authorized users can use the electronic fence drawing function, effectively preventing unauthorized operations, ensuring the security of the system, and synchronizing data to all users, ensuring that all users can see the latest electronic fence information, and improving the consistency and accuracy of information.

[0040] In some embodiments, the nuclear island navigation system further includes a data maintenance module, which is used for modifying and maintaining nuclear power plant data and supports publishing the modified nuclear island three-dimensional map and data updates to a server.

[0041] Specifically, the data maintenance module is used for modifying and maintaining nuclear power plant data, and supports publishing the modified nuclear island three-dimensional map and data updates to the server. It is a set of independently running client software modules, including five sub-modules: model editing, road network editing, hotspot editing, partition editing, and one-click publishing. The model editing sub-module allows users to edit and define equipment in the nuclear island three-dimensional map, so that users can correct the position of existing equipment models in the system, and supplement the missing equipment by themselves, and modify and maintain equipment attribute information; the road network editing sub-module allows users to edit key path points in the nuclear island three-dimensional map by themselves, modify and supplement the position and connection relationship of path points under the current elevation of the system, and form road network information for path calculation; the hotspot editing sub-module allows users to edit radiation hotspots in the nuclear island three-dimensional map by themselves, create a measurement point record table under a certain overhaul, and configure the radiation hotspot number, type, value, remarks, and hotspot location information in the nuclear island three-dimensional map through batch import or manual addition; The partition editing submodule allows users to edit radiation partitions in the nuclear island 3D map, create regular radiation partitions or dynamic radiation partitions during a major overhaul, and draw partition information; the one-key publishing submodule allows users to update and publish the modified nuclear island 3D map, road network, hotspots, and partition data to the server, and users can modify the IP address of the target server in the module. Through the above steps, users can maintain and manage data anytime and anywhere, and through modular editing and publishing processes, ensure the accuracy and consistency of data, reduce human errors and data inconsistencies, and through modular editing and publishing processes, ensure the accuracy and consistency of data, reduce human errors and data inconsistencies.

[0042] In some embodiments, the nuclear island navigation system also includes a voice navigation module, which is used to provide maintenance personnel with voice prompts in four directions of travel: forward, backward, turn left, and turn right, and to issue a voice warning prompt when there is a live area within 2 meters around the maintenance personnel or when passing through a live area, so as to guide the maintenance personnel to move safely.

[0043] Specifically, the voice navigation module provides maintenance personnel with voice prompts in four directions of travel: forward, backward, left turn, and right turn during the navigation journey. It also issues a voice warning prompt when there is a live area within 2 meters around the maintenance personnel or when passing through a live area, so as to guide the maintenance personnel to move safely, thereby helping the maintenance personnel avoid getting lost or taking the wrong route, further improving the safety and efficiency of maintenance work.

[0044] It is understandable that the above Figure 1 The system architecture shown is only an example. The structural diagram of the nuclear island navigation system described in the embodiment of the present application is for more clearly illustrating the technical solution of the embodiment of the present application, and does not constitute a limitation on the technical solution provided in the embodiment of the present application. A person of ordinary skill in the art can know that with the evolution of the system structure and the emergence of new business scenarios, the technical solution provided in the embodiment of the present application is also applicable to similar technical problems.

[0045] See also Figure 2 , is a flow chart of a nuclear island navigation method provided by an embodiment of the present invention, and the nuclear island navigation method can be applied to Figure 1 The nuclear island navigation system in Figure 2 As shown, the nuclear island navigation method can be implemented through the following steps.

[0046] S201: Acquire the starting point location information, the target end point location and the three-dimensional map of the nuclear island; S202: Determine all optional routes from the starting point location information to the target end location using a preset path planning algorithm according to the three-dimensional map of the nuclear island; S203: Obtaining path feasibility information corresponding to each optional route, wherein the path feasibility information indicates whether the current optional route meets feasibility requirements; S204: According to the path feasibility information corresponding to each optional route, determine the path with the shortest distance and / or the shortest time from all the optional routes as the target navigation route.

[0047] In this embodiment, the spatial structure, equipment layout, piping system and functional area information of the nuclear island are collected by laser scanning + panoramic image + on-site photography to restore the scene 1:1, and the information is converted and standardized. A software suitable for 3D modeling of nuclear power plants is selected, such as PDS (Plant Design System), PDMS (Plant Design Management System), etc. In the 3D modeling software, the 3D model of the nuclear island is constructed using the BIM model according to the collected spatial structure information, and the equipment models are added in sequence. According to the equipment layout information, each equipment is placed in the correct position and connected to the corresponding pipelines. According to the pipeline system information, each pipeline is drawn and connected to ensure that the direction and connection relationship of the pipeline are accurate. According to the functional area information, the model is partitioned, colored or marked to more clearly show the functional layout of the nuclear island, so as to establish a 1:1 3D map of the nuclear island that is highly consistent with the actual space.

[0048] The maintenance personnel manually input the starting point location information directly or scan the on-site environment through the mobile terminal to confirm the starting point location, that is, according to the maintenance personnel's current scene information and the nuclear island three-dimensional map, the maintenance personnel's starting point location information is determined. By entering the keyword information of the target maintenance equipment, the keyword information may include the equipment name, number, location description (such as room number, floor, area, etc.) or any details that can uniquely identify the location of the equipment, the target maintenance equipment can be searched, and fuzzy search can also be supported. When a small number of keywords are entered, the searched display related options list can be displayed in the form of a list. After obtaining the target maintenance equipment, the equipment identifier of the target maintenance equipment is extracted and matched in the nuclear island three-dimensional map. The nuclear island three-dimensional map should contain the precise location coordinates, room layout, floor structure and other detailed information of all equipment in the nuclear power plant. Through the matching process, the target location information of the target maintenance equipment can be determined, that is, the target terminal location of the maintenance personnel. According to the starting location information and the target terminal location, the intelligent navigation path planning algorithm combined with the intelligent device addressing algorithm is used to plan the route of the maintenance equipment to be repaired, and all optional routes that can reach the target terminal location from the starting location information are determined.

[0049] Further, by determining whether the current optional route passes through an enclosed area, if the current optional route passes through the enclosed area, calculate the distance from the starting position information of the maintenance personnel to the enclosed area, and determine whether the distance is greater than or equal to a preset distance threshold. If the distance is greater than or equal to the preset distance threshold, calculate the target time for the starting position information of the maintenance personnel to reach the enclosed area, and compare the target time with the remaining release time of the enclosed area. If the target time is greater than the remaining release time, determine that the current optional route meets the feasibility requirements. If the target time is less than the remaining release time, determine that the current optional route does not meet the feasibility requirements. That is, by determining whether the current optional route passes through an enclosed area, if not, skip the following steps and perform normal navigation. If so, calculate the distance S from the starting position information to the enclosed area, and determine whether the distance is greater than or equal to the preset distance threshold. If the distance is greater than or equal to the preset distance threshold, calculate the time T1 (taking the normal speed or setting it as a faster moving speed, such as 1.5 m / s) required to move from the starting point to reach the enclosed area (i.e., the total distance S), and combine it with the remaining release time T2 of the enclosed area to compare T1 and T2. When T1 > T2, it is concluded that the current optional route is feasible. If T1 < T2, it is determined that the current optional route is not feasible, and at the same time, output the difference between T1 and T2, and then output the judgment result (displayed on the path selection interface): passable, passable after XX minutes. After obtaining the path feasibility information corresponding to each optional route, further determine the route with the shortest distance and / or the least time consumption as the target navigation route from all the optional routes according to the path feasibility information corresponding to each optional route. It can be seen that the present application considers the influence of the enclosed area in path planning, and ensures the feasibility of the path by calculating the distance and target time from the starting position to the enclosed area and comparing the remaining release time of the enclosed area, provides clear navigation information for the maintenance personnel, and thus can plan the optimal path and improve the efficiency of equipment inspection work.

[0050] Figure 3 is a schematic structural diagram of a computer device provided by an embodiment of the present invention. As Figure 3 shown, the computer device of this embodiment includes: at least one processor ( Figure 3 only one is shown in the figure), a memory, and a computer program stored in the memory and executable on at least one processor. When the processor executes the computer program, it implements the steps in any of the above-mentioned embodiments of the nuclear island navigation method.

[0051] The computer device may include, but is not limited to, a processor and a memory. Those skilled in the art can understand that Figure 3These are merely examples of computer devices and do not constitute limitations on the computer devices. The computer devices may include more or fewer components than those shown in the figure, or a combination of certain components, or different components. For example, they may also include a network interface, a display screen, and an input system.

[0052] In one embodiment, a computer-readable storage medium is provided, and when the instructions in the computer-readable storage medium are executed by a processor in a computer device, the computer device can execute the steps of any embodiment of a nuclear island navigation system disclosed in the present invention, which will not be repeated here. The computer-readable storage medium can be non-volatile or volatile.

[0053] The processor may be a CPU, or other general-purpose processors, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc.

[0054] The memory includes a readable storage medium, an internal memory, etc., wherein the internal memory may be the memory of a computer device, and the internal memory provides an environment for the operation of the operating system and computer-readable instructions in the readable storage medium. The readable storage medium may be a hard disk of a computer device, and in other embodiments, it may also be an external storage device of the computer device, for example, a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), etc. equipped on the computer device. Further, the memory may also include both an internal storage unit of the computer device and an external storage device. The memory is used to store an operating system, a cooperative application, a boot loader (BootLoader), data, and other programs, such as the program code of a computer program, etc. The memory may also be used to temporarily store data that has been output or is to be output.

[0055] It can be understood by those skilled in the art that all or part of the processes in the above-mentioned embodiment methods can be implemented by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application may include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0056] The technical business in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In practical applications, the above-mentioned function allocation can be completed by different functional units and modules as needed, that is, the internal structure of the system is divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated in a processing unit, or each unit can exist physically alone, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of the present invention. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here. 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 storage medium.

[0057] The embodiments described above are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, it should be understood by those skilled in the art that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features thereof may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be included in the protection scope of the present invention.

Claims

1. A nuclear island navigation system, characterized in that: include: Map construction module, location positioning module, target query module, path planning and navigation module and path feasibility judgment module; The map construction module is used to construct a three-dimensional map of the nuclear island based on the spatial structure information, equipment layout information, piping system information and functional area information of the nuclear island; The position positioning module is used to determine the starting position information of the maintenance personnel according to the current scene information of the maintenance personnel and the three-dimensional map of the nuclear island; The target query module is used to input keyword information of the target maintenance equipment to be queried, and determine the target destination position of the maintenance personnel according to the queried target maintenance equipment and the three-dimensional map of the nuclear island; The path planning and navigation module is used to plan the route of the equipment to be inspected according to the starting point location information and the target end point location using a preset path planning algorithm, and determine all optional routes that can reach the target end point location from the starting point location information; The path feasibility judgment module is used to obtain the path feasibility information corresponding to each optional route, and based on the path feasibility information corresponding to each optional route, determine the path with the shortest distance and / or the least time from all the optional routes as the target navigation route.

2. The nuclear island navigation system according to claim 1, characterized in that: The nuclear island navigation system also includes a permission management module, which is used to limit the user permissions of the nuclear island navigation system. The user permissions include administrator permissions and ordinary user permissions. The administrator permissions are set from the bottom layer of the permission management module, and the ordinary user permissions are set by the administrator.

3. The nuclear island navigation system according to claim 1, characterized in that: The nuclear island navigation system also includes an information display module, which is used to query and display nuclear power plant related production information, provide an information query menu, query and obtain a number of nuclear island work tickets, radiation hotspots, and radiation zoning information from the nuclear power database through an external data interface, and graphically mark the information at the corresponding position on the nuclear island three-dimensional map.

4. The nuclear island navigation system according to claim 1, characterized in that: The nuclear island navigation system also includes a three-dimensional marking module, which is used to mark the starting position information of the maintenance personnel, the target end position of the maintenance personnel and each equipment to be maintained in the three-dimensional map of the nuclear island.

5. The nuclear island navigation system according to claim 1, characterized in that: The nuclear island navigation system also includes a data maintenance module, which is used for modifying and maintaining nuclear power plant data and supports publishing the modified nuclear island three-dimensional map and data updates to the server.

6. The nuclear island navigation system according to claim 1, characterized in that: The nuclear island navigation system also includes a voice navigation module, which is used to provide maintenance personnel with voice prompts in four directions of travel: forward, backward, turn left, and turn right, and to issue voice warning prompts when there is a live area within 2 meters around the maintenance personnel or when passing through a live area, so as to guide the maintenance personnel to move safely.

7. The nuclear island navigation system according to claim 1, characterized in that: The obtaining of path feasibility information corresponding to each optional route includes: Determine whether the current optional route passes through the enclosed area; If the current optional route passes through the enclosed area, then the distance from the starting position information of the maintenance personnel to the enclosed area is calculated; Determining whether the distance is greater than or equal to a preset distance threshold; If the distance is greater than or equal to the preset distance threshold, then calculating the target time for the starting position information of the maintenance personnel to arrive at the enclosed area; comparing the target time with the remaining release time of the enclosed area; If the target time is greater than the remaining release time, determining that the current optional route meets the feasibility requirement; If the target time is less than the remaining release time, it is determined that the current optional route does not meet the feasibility requirement.

8. A nuclear island navigation method based on the nuclear island navigation system according to any one of claims 1 to 7, characterized in that: include: Obtain starting point location information, target end point location and nuclear island three-dimensional map; According to the three-dimensional map of the nuclear island, a preset path planning algorithm is used to determine all optional routes from the starting position information to the target end position; Obtaining path feasibility information corresponding to each optional route, wherein the path feasibility information is whether the current optional route meets the feasibility requirement; According to the path feasibility information corresponding to each optional route, a path with the shortest distance and / or the shortest time is determined from all the optional routes as the target navigation route.

9. A computer 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 nuclear island navigation method as claimed in claim 8 is implemented.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the nuclear island navigation method as claimed in claim 8 is implemented.

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