Path planning navigation method, device, equipment and medium

Abstract

The invention relates to the technical field of nuclear power path navigation, in particular to a path planning navigation method and device, equipment and a medium, and the method comprises the steps: obtaining the starting position information of a maintainer and the target content information of a plurality of nuclear island work tickets, and obtaining the path planning navigation according to the target content information of the nuclear island work tickets; determining the target position information and the maintenance priority weight of the to-be-maintained equipment corresponding to each equipment maintenance instruction, and sorting all the equipment maintenance instructions according to the target position information and the maintenance priority weight of the to-be-maintained equipment corresponding to each equipment maintenance instruction to obtain a path sorting result, and according to the starting point position information, the path sorting result and the map information in the nuclear island, performing optimal path planning on the to-be-overhauled equipment corresponding to each equipment overhaul instruction by using a preset path planning algorithm, thereby more accurately generating the target navigation path, and improving the nuclear island overhaul efficiency of the nuclear power station.

Description

Technical Field

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

[0002] The internal environment of the nuclear island of a nuclear power plant is highly complex and limited by its particularity. Except during overhaul, maintenance personnel rarely have the opportunity to enter the nuclear island. This leads to a generally low level of familiarity among maintenance personnel with key information such as the internal environment of the nuclear island, equipment layout, and pipeline direction. During the overhaul, due to lack of sufficient familiarity, human errors (such as mistakenly entering non-target compartments) often occur. Given that the nuclear island overhaul has extremely strict radiation dose control requirements for each maintenance personnel, any human error may have a chain reaction on subsequent maintenance tasks, leading to a series of adverse consequences. Therefore, preventing human errors has become a key link that must be strictly controlled during nuclear power plant overhauls.

[0003] Although the existing technology has developed a nuclear island equipment addressing and positioning and travel path planning system or a nuclear island navigation system, this method has obvious limitations when facing a single-person multi-task scenario. Specifically, the system can only provide a single navigation path between two points at a time, and the user needs to repeatedly input the target location or equipment information, which cannot achieve intelligent planning and integration of multi-task paths, resulting in inefficient use of time resources. Therefore, how to generate a navigation route more accurately is a problem that technicians in this field need to solve urgently. Summary of the invention

[0004] Based on this, it is necessary to address the above technical problems. The embodiments of the present invention provide a path planning navigation method, device, equipment and medium, which can generate navigation routes more accurately and improve the efficiency of nuclear island maintenance in nuclear power plants.

[0005] A first aspect of an embodiment of the present application provides a path planning and navigation method, the path planning and navigation method comprising: Obtain the starting position information of the maintenance personnel and the target content information of several nuclear island work tickets; Determine the target location information and maintenance priority weight of the equipment to be repaired corresponding to each equipment maintenance instruction according to the target content information of the plurality of nuclear island work tickets; Sorting all equipment maintenance instructions according to the target location information and maintenance priority weight of the equipment to be repaired corresponding to each equipment maintenance instruction to obtain a path sorting result; According to the starting point location information, the path sorting result and the map information in the nuclear island, a preset path planning algorithm is used to perform optimal route planning for the equipment to be repaired to generate a target navigation route.

[0006] A second aspect of an embodiment of the present application provides a path planning and navigation device, the path planning and navigation device comprising: An acquisition module is used to obtain the starting position information of the maintenance personnel and the target content information of several nuclear island work tickets; A determination module, used to determine the target location information and maintenance priority weight of the equipment to be repaired corresponding to each equipment maintenance instruction according to the target content information of the plurality of nuclear island work tickets; A sorting module is used to sort all equipment maintenance instructions according to the target location information and maintenance priority weight of the equipment to be repaired corresponding to each equipment maintenance instruction to obtain a path sorting result; A generation module is used to plan the optimal route for the equipment to be repaired based on the starting point location information, the path sorting result and the map information in the nuclear island using a preset path planning algorithm to generate a target navigation route.

[0007] 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 path planning and navigation method as described in the first aspect when executing the computer program.

[0008] 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 path planning and navigation method as described in the first aspect is implemented.

[0009] In summary, the present invention provides a path planning navigation method, device, equipment and medium, which obtains the starting position information of the maintenance personnel and the target content information of several nuclear island work tickets, determines the target position information and maintenance priority weight of the equipment to be repaired corresponding to each equipment maintenance instruction according to the target content information of the several nuclear island work tickets, sorts all equipment maintenance instructions according to the target position information and maintenance priority weight of the equipment to be repaired corresponding to each equipment maintenance instruction, obtains the path sorting result, and uses the preset path planning algorithm to perform optimal route planning for the equipment to be repaired according to the starting position information, the path sorting result and the map information in the nuclear island, and generates the target navigation route. It can be seen that the present application uses the preset path planning algorithm to perform optimal route planning for the equipment to be repaired corresponding to each equipment maintenance instruction according to the starting position information, the path sorting result and the map information in the nuclear island, so as to generate the target navigation route more accurately, thereby improving the maintenance efficiency of the nuclear island of the nuclear power plant. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] 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.

[0011] Figure 1 It is a flowchart of a path planning and navigation method provided by an embodiment of the present invention; Figure 2 is a schematic diagram of the structure of a path planning and navigation device provided by an 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

[0012] 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.

[0013] 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.

[0014] 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.

[0015] 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.

[0016] 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.

[0017] 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.

[0018] 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.

[0019] In order to illustrate the technical solution of the present invention, specific embodiments are provided below for illustration.

[0020] See also Figure 1 , is a flow chart of a path planning and navigation method provided by an embodiment of the present invention, such as Figure 1 As shown, the path planning and navigation method can be implemented through the following steps.

[0021] S101: Acquire the starting position information of the maintenance personnel and the target content information of several nuclear island work tickets.

[0022] In step S101, the execution subject of this embodiment is a navigation route generation device, wherein the navigation route generation device can be an electronic device such as a personal computer or a server, or can be other devices that can achieve the same or similar functions, and this embodiment does not limit this. In this embodiment, the navigation route generation device is used as an example for explanation. It should be noted that the starting position information is the initial position information of the maintenance personnel at the current moment after entering the nuclear island, and the target content information can refer to the recording and management of various information in the maintenance and overhaul of nuclear island equipment, including equipment information, operation information, safety measures information, working conditions, etc., and this embodiment does not limit this.

[0023] In one embodiment of the invention, obtaining the starting position information of the maintenance personnel includes: Use mobile terminals to scan the on-site environment and confirm the maintenance personnel's current scene information; The starting position information of the maintenance personnel is determined based on the current scene information and the map information within the nuclear island.

[0024] Specifically, the on-site environment is scanned by a mobile terminal to confirm the current scene information of the maintenance personnel, and then the starting position information of the maintenance personnel is determined according to the current scene information and the map information in the nuclear island, or the maintenance personnel directly manually input the starting position information. The on-site environment is scanned by using the camera device of the mobile terminal to obtain real-world information, and it is integrated and processed 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 the map information within the nuclear island, and the navigation content refers to the planned path, target point location and other navigation-related information. 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, thereby improving the accuracy and robustness of positioning so that the optimal path can be planned more quickly in the future.

[0025] In one embodiment of the invention, target content information of several nuclear island work tickets is obtained, including: Obtain user identity information of maintenance personnel; According to the user identity information of the maintenance personnel, a number of nuclear island work tickets corresponding to the maintenance personnel are obtained from a pre-configured equipment maintenance database; The plurality of nuclear island work tickets are input into a preset deep learning model for analysis to determine target content information of the plurality of nuclear island work tickets.

[0026] Specifically, the identity information of the maintenance personnel, such as name, employee number, etc., is obtained through intelligent security inspection doors, face recognition systems or other identity authentication technologies, and then the corresponding nuclear island work tickets are queried and obtained in the pre-configured equipment maintenance database according to the identity information of the maintenance personnel. The database should contain detailed information of the work ticket, such as the work ticket number, work content, equipment target point, safety measures, etc., and then the obtained nuclear island work ticket information is input into the preset deep learning model for analysis to determine the target content information of the nuclear island work tickets, which includes multiple equipment maintenance instructions, each of which includes the equipment to be maintained, maintenance tasks, safety measures, etc. Through the above steps, the maintenance personnel and the nuclear island work tickets they are responsible for can be accurately matched according to the user identity information, and the work tickets can be analyzed by the deep learning model to efficiently and accurately extract the target content information (such as equipment number, location, maintenance tasks, etc.), reducing the error of manual analysis.

[0027] In this embodiment, by efficiently and accurately acquiring the starting position information of the maintenance personnel and the target content information of the nuclear island work ticket, reliable support is provided for subsequent navigation path planning and maintenance task execution, thereby improving navigation efficiency.

[0028] S102: Determine the target location information and maintenance priority weight of the equipment to be repaired corresponding to each equipment maintenance instruction according to the target content information of the plurality of nuclear island work tickets.

[0029] In step S102, the name, number or other unique device identifier of the equipment to be repaired corresponding to each equipment maintenance instruction is identified and extracted from the target content information of several nuclear island work tickets, and these equipment identifiers are matched with the actual location of the equipment in the nuclear power plant using the equipment layout diagram or geographic information system (GIS) of the nuclear power plant, so as to determine the target location information of the equipment to be repaired. And analyze the factors such as the type of maintenance task, urgency, and equipment importance in the nuclear island work ticket. According to these factors, a maintenance priority weight is assigned to each equipment maintenance instruction. Among them, the weight can be a value or a level used to indicate the urgency and importance of the maintenance task. It should be noted that the weight can be determined by multi-criteria decision analysis (MCDA), risk priority number (RPN) method or other evaluation methods, and this application does not make any limitation on this, so that the extracted target location information and the determined maintenance priority weight are subsequently integrated together to generate a complete maintenance plan for each equipment maintenance instruction.

[0030] In one embodiment of the invention, the target location information of the equipment to be repaired corresponding to each equipment repair instruction is determined according to the target content information of a plurality of nuclear island work tickets, including: Parsing the target content information of the plurality of nuclear island work tickets, and extracting key information related to the location information of the equipment to be repaired corresponding to each equipment repair instruction; Comparing the key information with preset key information to obtain a comparison result; If the comparison result indicates that the key information is consistent with the preset keyword, extracting a device identifier corresponding to the key information; The device identifier corresponding to the key information is matched with the map information in the nuclear island to determine the target location information of the device to be repaired corresponding to each device repair instruction.

[0031] Specifically, natural language processing (NLP) technology or text parsing tools are used to deeply parse the target content information of several nuclear island work tickets, identify and extract text paragraphs or sentences directly related to equipment maintenance instructions, and further extract key information related to the location information of the equipment to be repaired from the parsed text, which may include equipment name, number, location description (such as room number, floor, area, etc.) or any details that can uniquely identify the location of the equipment. It should be noted that regular expressions, keyword matching or semantic understanding and other technologies can be used to accurately extract this information, and this application does not make any restrictions on this. The extracted key information is compared with preset keywords or key information libraries, which may contain information such as standard names, numbers and location descriptions of all equipment in the nuclear power plant. It should be noted that the comparison process can be implemented using string matching algorithms, similarity calculations (such as cosine similarity, Jaccard similarity, etc.) or machine learning models, and this application does not make any restrictions on this. If the comparison result shows that the key information is consistent with the preset keywords or the similarity exceeds the preset threshold, the device identifier corresponding to the key information is extracted. The device identifier can be the unique number, name or any other code that can uniquely identify the device. The extracted device identifier is matched in the map information or geographic information system (GIS) in the nuclear island. The map information 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 equipment to be repaired corresponding to each equipment maintenance instruction 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 preset keywords are used for comparison to ensure the accuracy and consistency of the extracted key information, and the target location information of the equipment to be repaired is determined by the precise matching of the device identifier and the map information, avoiding location errors or confusion, and improving the efficiency and safety of subsequent maintenance work.

[0032] In one embodiment of the invention, the maintenance priority weight of the equipment to be repaired corresponding to each equipment maintenance instruction is determined according to the target content information of a plurality of nuclear island work tickets, including: Determine, according to the target content information of the plurality of nuclear island work tickets, the load level assessment value, the fault occurrence frequency, the maintenance plan frequency and the voltage level of the equipment to be repaired corresponding to each equipment maintenance instruction, and determine a first weight of the load level assessment value, a second weight of the fault occurrence frequency, a third weight of the maintenance plan frequency and a fourth weight of the voltage level; Determine the maximum load level assessment value, maximum fault occurrence frequency, maximum maintenance plan frequency and maximum voltage level of all equipment to be repaired; Calculating a ratio of the load level assessment value to the maximum load level assessment value to obtain a first ratio, calculating a ratio of the fault occurrence frequency to the maximum fault occurrence frequency to obtain a second ratio, calculating a ratio of the maintenance plan frequency to the maximum maintenance plan frequency to obtain a third ratio, and calculating a ratio of the voltage level to the maximum voltage level to obtain a fourth ratio; The first ratio, the second ratio, the third ratio and the fourth ratio are weightedly summed based on the first weight, the second weight, the third weight and the fourth weight to obtain a maintenance priority weight of the equipment to be repaired.

[0033] Specifically, the maintenance priority weight can be calculated by comprehensively considering factors such as the load level assessment value of the equipment to be repaired, the frequency of fault occurrence, the maintenance plan frequency and the voltage level, that is, by determining the load level assessment value, the frequency of fault occurrence, the maintenance plan frequency and the voltage level of the equipment to be repaired corresponding to each equipment maintenance instruction according to the target content information of several nuclear island work tickets, and using a preset algorithm to determine the first weight of the load level assessment value, the second weight of the fault frequency, the third weight of the maintenance plan frequency and the fourth weight of the voltage level, traversing the data of all the equipment to be repaired, and then determining the maximum load level assessment value, the maximum fault frequency and the maintenance plan frequency of all the equipment to be repaired. The first ratio is calculated by calculating the ratio of the load level evaluation value to the maximum load level evaluation value, the second ratio is calculated by calculating the ratio of the fault occurrence frequency to the maximum fault occurrence frequency, the third ratio is calculated by calculating the ratio of the maintenance plan frequency to the maximum maintenance plan frequency, the fourth ratio is calculated by calculating the ratio of the voltage level to the maximum voltage level, and the first ratio, the second ratio, the third ratio and the fourth ratio are weighted and summed based on the first weight, the second weight, the third weight and the fourth weight to obtain the maintenance priority weight of the equipment to be repaired, wherein the maintenance priority weight formula is: maintenance priority weight = first weight * first ratio + second weight * second ratio + third weight * third ratio + fourth weight * fourth ratio. Through the above steps, the load level, voltage level, fault frequency and maintenance plan of the equipment are comprehensively considered, and the priority levels of different equipment to be repaired are evaluated by the weight addition method, which avoids the influence of subjective judgment on the maintenance priority decision and improves the accuracy and efficiency of subsequent path division.

[0034] In this embodiment, based on the target content information of several nuclear island work tickets, the target location information and maintenance priority weight of the equipment to be maintained corresponding to each equipment maintenance instruction can be accurately determined, ensuring that high-priority tasks are executed first and reducing the time for maintenance personnel to find equipment, thereby providing better support for subsequent navigation path planning and maintenance task execution.

[0035] S103: Sort all equipment maintenance instructions according to the target location information and maintenance priority weight of the equipment to be repaired corresponding to each equipment maintenance instruction to obtain a path sorting result.

[0036] In step S103, all equipment maintenance instructions are obtained through the target content information of several nuclear island work tickets. The nuclear island area of ​​the nuclear power plant can be divided into grids or nodes. The target position information of each device to be repaired is represented by grid coordinates or node numbers, and then a database or data structure containing target position information and maintenance priority weights is created. The distance formula is used to calculate the distance from the current position of the maintenance personnel to the location of each device to be repaired. Commonly used formulas include Euclidean distance or Manhattan distance, etc., and this application does not make any restrictions on this. Then, according to the target position information and maintenance priority weight of the device to be repaired corresponding to each equipment maintenance instruction, all equipment maintenance instructions are sorted, starting from the equipment of the first maintenance instruction and ending with the equipment of the last maintenance instruction, completing a path that runs through all maintenance instruction devices to obtain a path sorting result. For example, suppose maintenance worker A has 3 work tickets: A ticket: A1, A2, A3; B ticket: B1, B2, B3; C ticket: C1, C2, C3, and sort all maintenance instructions as follows: A1→A2→A3→B1→B2→B3→C1→C2→C3.

[0037] In this embodiment, all equipment maintenance instructions are sorted according to the target location information and maintenance priority weight of the equipment to be maintained corresponding to each equipment maintenance instruction, and a path sorting result is obtained, so that the target navigation route can be generated more accurately later, thereby ensuring that maintenance personnel can efficiently handle equipment failures according to priority, thereby improving the efficiency, accuracy and reliability of maintenance task execution.

[0038] S104: Based on the starting point location information, the path sorting result and the map information in the nuclear island, a preset path planning algorithm is used to perform optimal route planning for the equipment to be repaired, and a target navigation route is generated.

[0039] In step S104, the map information in the nuclear island refers to the detailed spatial data of the internal structure of the nuclear island, including information such as equipment location, path, and area division. Based on the starting point location information, path sorting results, and map information in the nuclear island, the A* pathfinding algorithm is used to calculate the shortest path between every two devices to be repaired, and then the dynamic programming algorithm is used to optimize the global path sequence to generate the shortest total path from the starting point to all equipment target points, that is, the target navigation route.

[0040] In one embodiment of the invention, based on the starting point location information, the path sorting result and the map information in the nuclear island, a preset path planning algorithm is used to perform optimal route planning for the equipment to be repaired, and a target navigation route is generated, including: Determining the terminal location information of the maintenance personnel according to the path sorting result and the map information in the nuclear island; Determine the target node corresponding to the equipment to be repaired corresponding to each equipment repair instruction in the map information within the nuclear island, wherein the target node corresponding to the starting position information is the starting target node, the target node corresponding to the end position information is the ending target node, and the target node corresponding to the equipment to be repaired is the intermediate node; Based on the preset path-finding algorithm, the local optimal path from the starting target node to each intermediate node, the local optimal path between each intermediate node, and the local optimal path from each intermediate node to the ending target node are calculated; Based on a preset dynamic programming algorithm, route planning is performed on the local optimal path from the starting target node to each intermediate node, the local optimal path between the intermediate nodes, and the local optimal path from the intermediate nodes to the terminating target node, the optimal path from the starting target node to the terminating target node is determined, and the optimal path is used as the target navigation route.

[0041] Specifically, the sequence of equipment that the maintenance personnel need to access and its corresponding location information are extracted from the path sorting result, and the map information in the nuclear island is loaded, which usually includes the location coordinates of the equipment, the layout of the room, the connection status of the corridors and passages, etc. Among them, the map information can be stored in digital form (such as GIS data) or in image form (such as a floor plan). According to the path sorting result and the map information, the terminal location information of the equipment to be repaired corresponding to the last equipment maintenance instruction of the maintenance personnel is determined, and the target node corresponding to the equipment to be repaired corresponding to each equipment maintenance instruction is determined in the map information in the nuclear island, wherein the target node corresponding to the starting position information is the starting target node, the target node corresponding to the terminal position information is the ending target node, and the target node corresponding to the equipment to be repaired is the intermediate node. Using the preset path finding algorithm, the local optimal path from the starting target node to each intermediate node, the local optimal path between each intermediate node, and the local optimal path from each intermediate node to the ending target node are calculated. It should be noted that the path finding algorithm can use the Dijkstra algorithm, the A* addressing algorithm or other heuristic search algorithm, and this application does not impose any restrictions on this.

[0042] In which, each intermediate node is fully arranged to obtain several full arrangement sets, and each full arrangement set is traversed, and the first intermediate node of the full arrangement set is used as the full arrangement start node, and the last intermediate node of the full arrangement is used as the full arrangement end start node. The A* addressing algorithm is used to obtain the full arrangement optimal path between the full arrangement start node and the full arrangement end start node, and the full arrangement optimal path set of each full arrangement set is obtained. The local optimal path between each intermediate node is obtained by combining them. That is, the n intermediate nodes are fully arranged, the starting point of the full arrangement is recorded as V1, and the end point is recorded as Vn. The A* addressing algorithm is used to calculate the optimal path between V1 and Vn. 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.

[0043] The A* addressing algorithm considers multiple factors, such as distance, obstacles, elevator / stair locations, etc., to find the fastest or shortest path. Calculate and store detailed information for each path, including floors, rooms, and estimated travel time or distance. Display the floors and rooms passed through in the navigation interface, as well as the total distance (in meters) and the distance between rooms passed through. 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 is calculated (the estimated cost from the node to the end point), and then its F value is obtained. Then, the node with the smallest F value is selected from the OPEN table as the current node, and it is checked 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 (that is, nodes directly connected to the current node) are traversed. For each neighbor node, if it is already in the CLOSED table, skip the node. 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 (that is, the G value is smaller), update the G value and F value of the neighbor node, and set its parent node to the current node. If the neighbor node is neither in the CLOSED table nor in the OPEN table, add it to the OPEN table, set its G value, H value, and F value, and set its parent node to 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.

[0044] Then, after obtaining the local optimal path from the starting target node to each intermediate node, the local optimal path between each intermediate node, and the local optimal path from each intermediate node to the terminating target node, based on the preset dynamic programming algorithm, the local optimal path from the starting target node to each intermediate node, the local optimal path between each intermediate node, and the local optimal path from each intermediate node to the terminating target node are route planning and optimized to determine the optimal path from the starting target node to the terminating target node, and the optimal path is used as the target navigation route. It can be seen that the present application calculates the local optimal path through the path-finding algorithm to ensure that the path between each node is the shortest, and then combines the dynamic programming algorithm to globally optimize the path sequence to ensure that the total path from the starting target node to the terminating target node is optimal, reduce the travel distance and time of maintenance personnel, and improve the efficiency of nuclear power plant nuclear island maintenance.

[0045] In one embodiment of the invention, after generating the target navigation route, the following steps are included: The target navigation route is sent to the target client, so that the target client starts navigation according to the target navigation route, and guides the maintenance personnel to arrive at each device to be repaired in turn for maintenance; When the maintenance personnel have not completed all maintenance instructions, the current navigation record is automatically saved, wherein the navigation record includes the equipment to be maintained and the unfinished navigation path; When the maintenance personnel conduct maintenance again, the target navigation route is regenerated using a preset path planning algorithm based on the saved navigation records and the maintenance personnel's latest starting position information.

[0046] Specifically, the target navigation route is sent to the target client, so that the target client starts navigation according to the target navigation route, and guides the maintenance personnel to arrive at each device to be repaired in turn for maintenance. During the navigation process, each time the maintenance personnel arrive at a device to be repaired and perform maintenance work, the maintenance personnel can confirm the arrival point through the platform to realize electronic recording of the work status. Due to the large number of maintenance instructions, there may be a large time span, that is, the maintenance personnel cannot complete all maintenance instructions within half a day or one shift. When the maintenance personnel have not completed all maintenance instructions, the current navigation record is automatically saved, wherein the navigation record includes the repaired equipment to be repaired and the unfinished navigation path (for example, the maintenance task includes the maintenance instruction equipment a1-a2-a3-b2-b3-b5-c5-c4-a4-a5-b1-b4-c3-c1-c2, when a1-a2-a3-b2-b3-b5-c5 is completed during the shift), the next When it is used again, you can choose to continue the navigation according to the saved navigation records, confirm the latest starting point location information of the maintenance personnel, and regenerate the unfinished part of the last navigation path from the starting point (starting point-c4-a4-a5-b1-b4-c3-c1-c2). You can add or adjust the task equipment target points as needed (for example: c5 has been navigated to, but the maintenance task has not been completed, you can add target points to form the required path: starting point-c5-c4-a4-a5-b1-b4-c3-c1-c2); when navigating again, if the starting point is changed, the path formed by continuing the last input starting point (starting point-c4-a4-a5-b1-b4-c3-c1-c2) may not actually be the optimal path. You can choose to reorder and use the preset path planning algorithm to regenerate the target navigation route. When the path navigation of all maintenance equipment points is completed, the navigation is ended, and the navigation task will be automatically fed back to end. Through the above steps, the need for re-planning after the maintenance task is interrupted can be avoided, and the unfinished navigation path can be dynamically adjusted according to the latest starting position of the maintenance personnel to ensure the optimality of the path planning, thereby improving the continuity and efficiency of the maintenance task execution.

[0047] In this embodiment, by using a preset path planning algorithm based on the starting point location information, path sorting results and map information within the nuclear island, the optimal path from the starting point location information through each device to be repaired to the end point location information can be found quickly and accurately, which helps maintenance personnel to visit each device in a predetermined order, reduce the movement distance and time of maintenance personnel, and thus improve the overall maintenance efficiency.

[0048] In summary, the present invention provides a path planning navigation method, device, equipment and medium, which obtains the starting position information of the maintenance personnel and the target content information of several nuclear island work tickets, determines the target position information and maintenance priority weight of the equipment to be repaired corresponding to each equipment maintenance instruction according to the target content information of the several nuclear island work tickets, sorts all equipment maintenance instructions according to the target position information and maintenance priority weight of the equipment to be repaired corresponding to each equipment maintenance instruction, obtains the path sorting result, and uses the preset path planning algorithm to perform optimal route planning for the equipment to be repaired according to the starting position information, the path sorting result and the map information in the nuclear island, and generates the target navigation route. It can be seen that the present application uses the preset path planning algorithm to perform optimal route planning for the equipment to be repaired corresponding to each equipment maintenance instruction according to the starting position information, the path sorting result and the map information in the nuclear island, so as to generate the target navigation route more accurately, thereby improving the maintenance efficiency of the nuclear island of the nuclear power plant.

[0049] See also Figure 2 , Figure 2 Schematic diagram of the structure of the path planning and navigation device provided by the embodiment of the present invention. The path planning and navigation device corresponds to the path planning and navigation method in the above embodiment. Figure 2 as well as Figure 2 For the convenience of explanation, only the parts related to this embodiment are shown. Figure 2 The path planning and navigation device 20 includes: an acquisition module 21, a determination module 22, a sorting module 23, and a generation module 24.

[0050] An acquisition module 21 is used to acquire the starting position information of the maintenance personnel and target content information of several nuclear island work tickets; A determination module 22, for determining the target location information and maintenance priority weight of the equipment to be repaired corresponding to each equipment maintenance instruction according to the target content information of the plurality of nuclear island work tickets; A sorting module 23 is used to sort all equipment maintenance instructions according to the target location information and maintenance priority weight of the equipment to be repaired corresponding to each equipment maintenance instruction to obtain a path sorting result; The generation module 24 is used to perform optimal route planning for the equipment to be repaired based on the starting point location information, the path sorting result and the map information in the nuclear island using a preset path planning algorithm to generate a target navigation route.

[0051] Optionally, the acquisition module 21 is specifically used for: Use mobile terminals to scan the on-site environment and confirm the maintenance personnel's current scene information; The starting position information of the maintenance personnel is determined based on the current scene information and the map information within the nuclear island.

[0052] Optionally, the acquisition module 21 is further used for: Obtain user identity information of maintenance personnel; According to the user identity information of the maintenance personnel, a number of nuclear island work tickets corresponding to the maintenance personnel are obtained from a pre-configured equipment maintenance database; The plurality of nuclear island work tickets are input into a preset deep learning model for analysis to determine target content information of the plurality of nuclear island work tickets.

[0053] Optionally, the determination module 22 is specifically configured to: Parsing the target content information of the plurality of nuclear island work tickets, and extracting key information related to the location information of the equipment to be repaired corresponding to each equipment repair instruction; Comparing the key information with preset key information to obtain a comparison result; If the comparison result indicates that the key information is consistent with the preset keyword, extracting a device identifier corresponding to the key information; The device identifier corresponding to the key information is matched with the map information in the nuclear island to determine the target location information of the device to be repaired corresponding to each device repair instruction.

[0054] Optionally, the determination module 22 is further configured to: Determine, according to the target content information of the plurality of nuclear island work tickets, the load level assessment value, the fault occurrence frequency, the maintenance plan frequency and the voltage level of the equipment to be repaired corresponding to each equipment maintenance instruction, and determine a first weight of the load level assessment value, a second weight of the fault occurrence frequency, a third weight of the maintenance plan frequency and a fourth weight of the voltage level; Determine the maximum load level assessment value, maximum fault occurrence frequency, maximum maintenance plan frequency and maximum voltage level of all equipment to be repaired; Calculating a ratio of the load level assessment value to the maximum load level assessment value to obtain a first ratio, calculating a ratio of the fault occurrence frequency to the maximum fault occurrence frequency to obtain a second ratio, calculating a ratio of the maintenance plan frequency to the maximum maintenance plan frequency to obtain a third ratio, and calculating a ratio of the voltage level to the maximum voltage level to obtain a fourth ratio; The first ratio, the second ratio, the third ratio and the fourth ratio are weightedly summed based on the first weight, the second weight, the third weight and the fourth weight to obtain a maintenance priority weight of the equipment to be repaired.

[0055] Optionally, the generating module 24 is specifically used for: Determining the terminal location information of the maintenance personnel according to the path sorting result and the map information in the nuclear island; Determine the target node corresponding to the equipment to be repaired corresponding to each equipment repair instruction in the map information within the nuclear island, wherein the target node corresponding to the starting position information is the starting target node, the target node corresponding to the end position information is the ending target node, and the target node corresponding to the equipment to be repaired is the intermediate node; Based on the preset path-finding algorithm, the local optimal path from the starting target node to each intermediate node, the local optimal path between each intermediate node, and the local optimal path from each intermediate node to the ending target node are calculated; Based on a preset dynamic programming algorithm, route planning is performed on the local optimal path from the starting target node to each intermediate node, the local optimal path between the intermediate nodes, and the local optimal path from the intermediate nodes to the terminating target node, the optimal path from the starting target node to the terminating target node is determined, and the optimal path is used as the target navigation route.

[0056] Optionally, the generating module 24 is then specifically used for: The target navigation route is sent to the target client, so that the target client starts navigation according to the target navigation route, and guides the maintenance personnel to arrive at each device to be repaired in turn for maintenance; When the maintenance personnel have not completed all maintenance instructions, the current navigation record is automatically saved, wherein the navigation record includes the equipment to be maintained and the unfinished navigation path; When the maintenance personnel conduct maintenance again, the target navigation route is regenerated using a preset path planning algorithm based on the saved navigation records and the maintenance personnel's latest starting position information.

[0057] It should be noted that the information interaction, execution process and other contents between the above-mentioned units are based on the same concept as the embodiment of the method of the present invention. Their specific functions and technical effects can be found in the method embodiment part and will not be repeated here.

[0058] Figure 3 Schematic diagram of the structure of a computer device provided by an embodiment of the present invention. Figure 3 As 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, wherein when the processor executes the computer program, the steps in any of the above-mentioned path planning and navigation method embodiments are implemented.

[0059] The computer device may include, but is not limited to, a processor and a memory. It can be understood by those skilled in the art that Figure 3 These are merely examples of devices and do not constitute limitations on the devices. The devices may include more or fewer components than those shown in the diagram, or a combination of certain components, or different components. For example, the devices may also include a network interface, a display screen, and an input system.

[0060] 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 device, the device can perform the steps of any embodiment of a path planning and navigation method disclosed in the present invention, which will not be repeated here. The computer-readable storage medium can be non-volatile or volatile.

[0061] 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.

[0062] The memory includes a readable storage medium, an internal memory, etc., wherein the internal memory may be the memory of the 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 the device, and in other embodiments, it may also be an external storage device of the 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 device. Further, the memory may also include both an internal storage unit of the 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.

[0063] 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.

[0064] 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.

[0065] 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 path planning and navigation method, characterized in that: include: Obtain the starting position information of the maintenance personnel and the target content information of several nuclear island work tickets; Determine the target location information and maintenance priority weight of the equipment to be repaired corresponding to each equipment maintenance instruction according to the target content information of the plurality of nuclear island work tickets; Sorting all equipment maintenance instructions according to the target location information and maintenance priority weight of the equipment to be repaired corresponding to each equipment maintenance instruction to obtain a path sorting result; According to the starting point location information, the path sorting result and the map information in the nuclear island, a preset path planning algorithm is used to perform optimal route planning for the equipment to be repaired to generate a target navigation route.

2. The path planning and navigation method according to claim 1, characterized in that: The obtaining of the starting point location information of the maintenance personnel includes: Use mobile terminals to scan the on-site environment and confirm the maintenance personnel's current scene information; The starting position information of the maintenance personnel is determined based on the current scene information and the map information within the nuclear island.

3. The path planning and navigation method according to claim 1, characterized in that: The target content information of obtaining several nuclear island work tickets includes: Obtain user identity information of maintenance personnel; According to the user identity information of the maintenance personnel, a number of nuclear island work tickets corresponding to the maintenance personnel are obtained from a pre-configured equipment maintenance database; The plurality of nuclear island work tickets are input into a preset deep learning model for analysis to determine target content information of the plurality of nuclear island work tickets.

4. The path planning and navigation method according to claim 1, characterized in that: Determining the target location information of the equipment to be repaired corresponding to each equipment maintenance instruction according to the target content information of the plurality of nuclear island work tickets includes: Parsing the target content information of the plurality of nuclear island work tickets, and extracting key information related to the location information of the equipment to be repaired corresponding to each equipment repair instruction; Comparing the key information with preset key information to obtain a comparison result; If the comparison result indicates that the key information is consistent with the preset keyword, extracting a device identifier corresponding to the key information; The device identifier corresponding to the key information is matched with the map information in the nuclear island to determine the target location information of the device to be repaired corresponding to each device repair instruction.

5. The path planning and navigation method according to claim 1, characterized in that: Determining the maintenance priority weight of the equipment to be repaired corresponding to each equipment maintenance instruction according to the target content information of the plurality of nuclear island work tickets includes: Determine, according to the target content information of the plurality of nuclear island work tickets, the load level assessment value, the fault occurrence frequency, the maintenance plan frequency and the voltage level of the equipment to be repaired corresponding to each equipment maintenance instruction, and determine a first weight of the load level assessment value, a second weight of the fault occurrence frequency, a third weight of the maintenance plan frequency and a fourth weight of the voltage level; Determine the maximum load level assessment value, maximum fault occurrence frequency, maximum maintenance plan frequency and maximum voltage level of all equipment to be repaired; Calculating a ratio of the load level assessment value to the maximum load level assessment value to obtain a first ratio, calculating a ratio of the fault occurrence frequency to the maximum fault occurrence frequency to obtain a second ratio, calculating a ratio of the maintenance plan frequency to the maximum maintenance plan frequency to obtain a third ratio, and calculating a ratio of the voltage level to the maximum voltage level to obtain a fourth ratio; The first ratio, the second ratio, the third ratio and the fourth ratio are weightedly summed based on the first weight, the second weight, the third weight and the fourth weight to obtain a maintenance priority weight of the equipment to be repaired.

6. The path planning and navigation method according to claim 1, characterized in that: The method of performing optimal route planning for the equipment to be repaired by using a preset path planning algorithm according to the starting point location information, the path sorting result and the map information in the nuclear island to generate a target navigation route includes: Determining the terminal location information of the maintenance personnel according to the path sorting result and the map information in the nuclear island; Determine the target node corresponding to the equipment to be repaired corresponding to each equipment repair instruction in the map information within the nuclear island, wherein the target node corresponding to the starting position information is the starting target node, the target node corresponding to the end position information is the ending target node, and the target node corresponding to the equipment to be repaired is the intermediate node; Based on the preset path-finding algorithm, the local optimal path from the starting target node to each intermediate node, the local optimal path between each intermediate node, and the local optimal path from each intermediate node to the ending target node are calculated; Based on a preset dynamic programming algorithm, route planning is performed on the local optimal path from the starting target node to each intermediate node, the local optimal path between the intermediate nodes, and the local optimal path from the intermediate nodes to the terminating target node, the optimal path from the starting target node to the terminating target node is determined, and the optimal path is used as the target navigation route.

7. The path planning and navigation method according to claim 1, characterized in that: After the target navigation route is generated, the following steps are included: The target navigation route is sent to the target client, so that the target client starts navigation according to the target navigation route, and guides the maintenance personnel to arrive at each device to be repaired in turn for maintenance; When the maintenance personnel have not completed all maintenance instructions, the current navigation record is automatically saved, wherein the navigation record includes the equipment to be maintained and the unfinished navigation path; When the maintenance personnel conduct maintenance again, the target navigation route is regenerated using a preset path planning algorithm based on the saved navigation records and the maintenance personnel's latest starting position information.

8. A path planning navigation device, characterized in that: include: An acquisition module is used to obtain the starting position information of the maintenance personnel and the target content information of several nuclear island work tickets; A determination module, used to determine the target location information and maintenance priority weight of the equipment to be repaired corresponding to each equipment maintenance instruction according to the target content information of the plurality of nuclear island work tickets; A sorting module is used to sort all equipment maintenance instructions according to the target location information and maintenance priority weight of the equipment to be repaired corresponding to each equipment maintenance instruction to obtain a path sorting result; A generation module is used to plan the optimal route for the equipment to be repaired based on the starting point location information, the path sorting result and the map information in the nuclear island using a preset path planning algorithm to generate a 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 path planning and navigation method according to any one of claims 1 to 7 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 path planning and navigation method according to any one of claims 1 to 7 is implemented.

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