Decision and control system and method for nuclear power robot

Abstract

The invention relates to the field of nuclear power stations, in particular to a nuclear power robot decision-making and control system and method, and the system comprises a control cabinet, an operator station and an engineer station. The system is used for controlling at least one nuclear power robot. The method comprises the steps that the position and radiation data of the robot are acquired in real time through the wireless communication module, the robot is guided to move according to a preset inspection path, and whether radiation leakage occurs or not is judged in combination with multi-source nuclide data. Once leakage is detected, the system starts a hot spot tracking process, automatically plans an optimal path and instructs the robot to execute radiation dose sampling; according to the invention, the plurality of nuclear power robots and the DCS system are integrated through the wireless communication module, and information sharing and collaborative operation among the plurality of nuclear power robots are realized, so that the inspection efficiency is improved, the information island phenomenon is avoided, and the robots can work in a coordinated manner and do not interfere with one another.

Description

Technical Field

[0001] The present invention relates to the field of nuclear power plants, and in particular to a nuclear power robot decision-making and control system and method. Background Art

[0002] With the rapid development of the nuclear power industry and the increasing safety requirements for nuclear power, it is very necessary to monitor the safety of nuclear radiation in nuclear power plants. Nuclear power plant inspections are an important means of monitoring radiation safety conditions, and inspection data are also an important reference for the duty officer of a nuclear power plant to choose normal operation plans and accident handling decisions. At present, many data statistics and summaries between inspection equipment are completed manually, and the real-time and intelligent levels are not high. At the same time, due to the harm of radiation to the human body, inspections and monitoring in some high-radiation environments are often impossible to achieve. The nuclear power plant inspection robot has become the most important inspection equipment for nuclear power plants at home and abroad because it can replace staff to enter high-irradiation environments to perform inspection tasks and efficiently collect radiation environment data.

[0003] The control system of a nuclear power plant adopts a DCS architecture, which is divided into safety level and non-safety level. It is the "nerve center" of the nuclear power plant. The control system controls various devices to achieve the conversion of reactor operating conditions and ensure the safe and stable operation of the nuclear power plant. The control system monitors, controls and manages all nuclear parameters and process parameters of the nuclear power plant, provides signals for other systems, realizes the control of reactor startup, shutdown, power increase, etc., realizes power distribution control, and ensures the safe operation of the nuclear power plant.

[0004] However, existing nuclear power plant robot systems usually use wireless or a combination of wired and wireless communication methods, and lack effective information sharing between different robots, resulting in the inability to achieve multi-machine collaborative operation. In complex working conditions and high-radiation environments, although existing wireless communication methods can avoid the problem of cable entanglement in wired communication, they place higher requirements on the reliability of wireless communication in practical applications.

[0005] Therefore, developing a new nuclear power robot decision-making and control system that enables multiple robots to share information, work collaboratively, and seamlessly connect with the DCS system of the nuclear power plant, thereby improving the efficiency and accuracy of inspections and ensuring the safe operation of the nuclear power plant, has become a technical problem that needs to be solved urgently. Summary of the invention

[0006] The technical problem to be solved by the present invention is that in the existing nuclear power robot system, robots cannot share information and work collaboratively, and there are certain limitations in the integration and communication with the DCS system of the nuclear power plant, resulting in low efficiency of inspection tasks and insufficient intelligence in decision-making. The purpose is to provide a nuclear power robot decision-making and control system and method, which realizes information sharing and multi-machine collaborative operation among multiple nuclear power robots, and is seamlessly integrated with the DCS system of the nuclear power plant.

[0007] The present invention is achieved through the following technical solutions:

[0008] A nuclear power robot decision and control system, based on a distributed control system architecture, the system comprises: a control cabinet, an operator station and an engineer station; the system is used to control at least one nuclear power robot;

[0009] The nuclear power robot is equipped with a radiation detection module and a position positioning module. The radiation detection module is used to collect multi-source nuclide data, and the position positioning module is used to collect the position information of the nuclear robot. The control cabinet and the nuclear power robot communicate bidirectionally through the wireless communication module;

[0010] The control cabinet is used to integrate multi-source nuclide data, nuclear power robot parameter data, location information, logical configuration and on-site monitoring information, and to control the nuclear power robot's collaborative inspection, radiation hotspot tracking and radiation detection sampling based on the integrated data;

[0011] The operator station is used to receive and display the fusion data of the control cabinet in real time and send operation instructions to the control cabinet;

[0012] The engineer station is used to set up the logic configuration and system parameter configuration of the control cabinet.

[0013] Specifically, the control cabinet is equipped with a main controller, an analog input module, an analog output module, a switch input module, and a switch output module; the model of the main controller is XP243X.

[0014] A nuclear power robot decision and control method, based on the nuclear power robot decision and control system as described above, the control method comprises:

[0015] Query the current position coordinates of each nuclear power robot, and compare the current position coordinates with the preset initial position coordinates. If they are inconsistent, wait and re-query at regular intervals; if they are consistent, send the motion path coordinate data to the nuclear power robot according to the preset inspection path;

[0016] Send a start command to the nuclear power robot;

[0017] Query the current actual coordinates and multi-source nuclide data of each nuclear power robot according to a predetermined period;

[0018] Determine whether all inspection tasks are completed based on the current actual coordinates. If all inspection tasks are completed, send a stop motion command;

[0019] If the inspection task is not completed, determine whether there is radiation leakage in the surrounding area based on the multi-source nuclide data. If no leakage is detected, continue the inspection; if leakage is detected, start the hot spot tracking process;

[0020] Determine whether the hotspot tracking process is completed. If the hotspot tracking is completed, continue the inspection; if the hotspot tracking is not completed, continue the hotspot tracking process.

[0021] Specifically, the hotspot tracking process includes:

[0022] Determine the initial leakage point based on radiation hot spot analysis;

[0023] According to the current actual coordinates of the nuclear power robot, the determined preliminary leakage point and obstacle information, the optimal path from the current actual coordinates to the preliminary leakage point is planned;

[0024] Sending the motion coordinate data corresponding to the optimal path to the corresponding nuclear power robot;

[0025] Determine whether the nuclear power robot has reached the preliminary leakage point. If not, wait for the nuclear power robot to arrive. If it has arrived, determine whether a β dose sampling operation is required based on the current neutron count rate and γ dose rate. If sampling is required, send a sampling operation instruction to perform sampling. If sampling is not required, send a return instruction.

[0026] Determine whether the β dose sampling is completed. If not, continue sampling. If completed, send a return instruction.

[0027] The nuclear power robot returns to the original inspection position before hotspot tracking according to the return instruction, completing the hotspot tracking process.

[0028] Specifically, the inspection path presetting method includes:

[0029] Conduct spatial modeling of the inspection environment of nuclear power robots;

[0030] Determine the number of nuclear power robots, the initial position and final position of each nuclear power robot;

[0031] A grid method is used to preset a fixed inspection path for each nuclear power robot, and the preset fixed inspection path is converted into the position coordinates of each nuclear power robot at each moment;

[0032] When the inspection begins, the two-dimensional data of the inspection scene including the scene size and obstacle information and the position coordinates at each moment will be sent to each nuclear power robot.

[0033] Preferably, the preset inspection path covers the entire inspection area, and the position coordinates of each nuclear power robot do not overlap at the same time.

[0034] Specifically, the methods for analyzing and determining the initial leakage point include:

[0035] According to the preset radiation hotspot identification criterion, radiation hotspot data is obtained through a coded aperture imaging system; wherein the coded aperture imaging system includes a planar coded collimator and a position sensitive detector, and the planar coded collimator modulates the photons emitted by the radiation source in the spatial domain;

[0036] The position-sensitive detector generates fluorescence when interacting with incident photons, and the silicon photomultiplier tube array converts the fluorescence signal into an electrical signal;

[0037] The amplified electrical signal is transmitted to the back-end multi-channel high-speed analog-to-digital conversion data acquisition circuit for digital processing to obtain a digital signal;

[0038] The acquired digital signals are processed using image reconstruction algorithms to identify radioactive hot spots and determine preliminary leakage points.

[0039] Furthermore, after analyzing and determining the initial leak point, the method of starting the hotspot tracking process includes:

[0040] The radioactive hotspot data identified by multiple nuclear power robots are uploaded to the control cabinet. If the count rate in a certain area exceeds the background value, a radiation hotspot map is generated at the operator station;

[0041] Combined with manual query and analysis of radioactive hotspot data, a decision is made on whether to initiate hotspot tracking;

[0042] If a manual decision is made to start hotspot tracking, the hotspot tracking process will be started; if a manual decision is made not to start hotspot tracking, the hotspot tracking process will not be started.

[0043] Specifically, the method for planning the optimal path of the nuclear power robot from the current actual coordinates to the preliminary leakage point includes:

[0044] According to the current actual coordinates of each nuclear power robot and the position of the determined preliminary leakage point, the grid method is used to calculate the shortest path of each nuclear power robot, and the obstacle information in the inspection scene is combined for correction;

[0045] According to the correction result, the nuclear power robot closest to the initial leakage point is selected, and the optimal path for tracking the initial leakage point is planned;

[0046] The robot position coordinate data obtained at each moment is sent to the selected nuclear power robot, and the nuclear power robot moves according to the planned coordinate value. The other nuclear power robots suspend movement and wait for the hot spot tracking process to end.

[0047] Preferably, the nuclear power robots that have not performed hotspot tracking wait for the nuclear power robots that have performed hotspot tracking to return to the original inspection position, and then synchronize the operating status or clocks of all nuclear power robots, and the nuclear power robots coordinate their movements according to the preset inspection path.

[0048] Specifically, the method for determining whether sampling is required includes:

[0049] After the nuclear power robot reaches the initial leakage point, it performs neutron and gamma dose measurements and uploads the measurement results to the control cabinet;

[0050] The control cabinet analyzes the measurement results and displays the energy spectrum data and radiation dose data at the operator station;

[0051] Combined with manual query and analysis of preliminary leakage point data, a decision is made on whether to initiate beta dose measurement;

[0052] When it is decided to start the β dose measurement, the nuclear power robot is instructed to perform the β dose measurement sampling action; the nuclear power robot uploads the neutron, γ and β dose measurement results and analyzes them to obtain the final leakage point;

[0053] If the β dose measurement is not started, the initial leakage point is directly taken as the final leakage point.

[0054] Specifically, the nuclear radiation detection module of the nuclear power robot includes: a neutron radiation detection module, a gamma radiation detection module and a beta radiation detection module. The data of the radiation detection module and the position positioning module are connected to the wireless communication module on the robot side through the RS485 bus and the CAN bus;

[0055] The wireless communication module establishes a data link with the wireless communication module on the control cabinet side through a wireless network;

[0056] The wireless communication module on the control cabinet side is connected to the control cabinet via the RS485 bus and the CAN bus.

[0057] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0058] The present invention is a nuclear power robot decision-making and control system based on a distributed control system architecture. It realizes information sharing and collaborative operation among multiple robots through wireless communication modules and DCS systems. It collects radiation data and position information in real time through the radiation detection module and position positioning model of the nuclear power robot, and transmits and integrates data with the control cabinet. It also ensures that the nuclear power robot can perform inspection tasks efficiently and safely through a combination of intelligent analysis and manual decision-making.

[0059] The present invention integrates multiple nuclear power robots with the DCS system through wireless communication modules, realizes information sharing and collaborative operation among multiple nuclear power robots, thereby improving inspection efficiency, avoiding information island phenomenon, and enabling each robot to coordinate operations without interfering with each other; through intelligent analysis and decision-making combining multi-source radiation data and robot status data, real-time monitoring and precise control of the nuclear power plant environment are realized, and robots replace manual labor to enter high-radiation environments to perform inspection tasks, which significantly reduces the risk of radiation exposure to personnel and ensures the safety of staff. BRIEF DESCRIPTION OF THE DRAWINGS

[0060] The accompanying drawings illustrate exemplary embodiments of the present invention and, together with the description thereof, are used to explain the principles of the present invention. These drawings are included to provide a further understanding of the present invention, and the accompanying drawings are included in and constitute a part of this specification and do not constitute a limitation of the embodiments of the present invention.

[0061] Figure 1 It is a flow chart of a nuclear power robot decision-making and control method according to the present invention.

[0062] Figure 2 It is a flowchart of the hotspot tracking process according to the present invention. DETAILED DESCRIPTION

[0063] To make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and implementation methods. It is understood that the specific implementation methods described herein are only used to explain the relevant content, rather than to limit the present invention.

[0064] It should also be noted that, for the convenience of description, only the parts related to the present invention are shown in the drawings.

[0065] In the absence of conflict, the embodiments and features of the embodiments of the present invention may be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0066] Embodiment 1

[0067] A nuclear power robot decision and control system based on a distributed control system architecture (DCS) is provided, the system includes: a control cabinet, an operator station and an engineer station; the system is used to control at least one nuclear power robot; the core function of the system is to control at least one nuclear power robot to ensure that the robot can perform tasks such as collaborative inspection, radiation hotspot tracking and radiation detection sampling.

[0068] The entire DCS system adopts Zhejiang SUPCON's JX-300XP process control system. The system uses 1:1 redundant industrial Ethernet SCnet II, supports Internet interconnection of multiple protocols such as Modbus and HostLink, and has functions such as event recording and fault diagnosis.

[0069] The control cabinet is the core component of the system, responsible for integrating multiple data sources, including radiation detection modules, robot parameter data, location data, logical configuration and on-site monitoring information. The functions of the control cabinet include receiving data from nuclear power robots, processing these data, and performing collaborative inspections, radiation hotspot tracking and radiation detection sampling based on the fused information. The control cabinet is equipped with a main controller, and data input and output are performed through analog input modules, analog output modules, switch input modules and switch output modules.

[0070] The control cabinet is equipped with redundant dual power supplies, dual controllers and dual communication modules, one switch input module, one switch output module, one analog input module, one analog output module and one communication module. These modules can also be designed redundantly as needed and are all integrated in a 19" control cabinet. The SBUS bus is used between the controller, data forwarding card and I / O card for fast and efficient information exchange.

[0071] The switch input module uses XP366, which is an intelligent 16-channel digital signal input card, used to collect switch signals such as on-site limit switches, pump valve status, and alarms; the switch output module uses XP366, which is an intelligent 16-channel digital signal output card, used to output alarms and other signals; the analog input module uses XP351, which is an 8-channel isolated current signal input card, used to collect 4-20mA current signals from on-site transmitters; the analog output module uses XP372, which is an 8-channel isolated current signal output card, outputting nuclear power plant parameters to other systems. The communication module uses a 2-channel RS485 communication module for communication with the nuclear power robot end.

[0072] The nuclear power robot is equipped with a radiation detection module and a position positioning module. The radiation detection module is used to collect multi-source nuclide data, including neutron, γ, and β radiation data, and monitor the radiation situation in real time. The position positioning module is used to collect the position information of the nuclear robot to ensure that the robot can accurately locate and perform preset tasks. The control cabinet and the nuclear power robot communicate bidirectionally through the wireless communication module, so that data can be uploaded to the control cabinet in real time and receive instructions from the control cabinet.

[0073] The nuclear radiation detection module of the nuclear power robot includes: neutron radiation detection module, γ radiation detection module and β radiation detection module. The data of the radiation detection module and the position positioning module are connected to the wireless communication module on the robot side through the RS485 bus and the CAN bus; the wireless communication module establishes a data link with the wireless communication module on the control cabinet side through the wireless network; the wireless communication module on the control cabinet side is connected to the control cabinet through the RS485 bus and the CAN bus.

[0074] The data link between the robot and DCS is established through the wireless communication conversion module. The robot data is transmitted to the wireless communication conversion module through the CAN bus. The neutron / γ / β measurement data is transmitted to the wireless communication conversion module through RS485 or CAN bus. The radiation hotspot image data is transmitted to the wireless communication conversion module through the CAN bus. After all the data on the robot side is packaged in the wireless communication conversion module, it communicates with the wireless communication conversion module on the DCS side through Wi-Fi. The wireless communication module on the DCS side transmits data with the communication module of the DCS through RS485. Finally, all the data on the robot side is transmitted to the DCS and displayed at the operator station. Similarly, the robot control signal sent by the DCS operator station communicates through the same data link.

[0075] The operator station is used to receive and display the fused data of the control cabinet in real time, and send operating instructions to the control cabinet; the operator monitors the working status of the nuclear power robot through the operator station, views the inspection data, radiation hotspot information, etc. in real time, and sends operating instructions to the control cabinet to ensure that the system operates according to the predetermined goals and strategies.

[0076] The engineer station is used to set the logic configuration of the control cabinet and configure the system parameters, ensure that the functions of the system are adjusted as needed, and optimize and maintain the control system.

[0077] The console is used to place the host and display of the operator station and engineer station. The operator station is for operators and is mainly used for robot monitoring and multi-source radiation data monitoring and management; the engineer station is for developers and is mainly used for system development and maintenance. The operator station, engineer station and field control cabinet realize information transmission and management of nuclear power robots through industrial Ethernet SCnet II, forming an information channel for comprehensive system management.

[0078] The main controller model is XP243X, which is the core control unit of the system and is responsible for overall data processing and task scheduling. The analog input module and output module, switch input module and output module enable the control cabinet to process various signals from robots and other equipment, and realize data exchange and the issuance of control instructions.

[0079] The main controller uses XP243X, which is the core unit of the JX-300XP system. It is responsible for data acquisition, information processing and control output in the system. The main control card realizes information exchange with I / O cards through the data forwarding card. In this system, the main controller uses the signal input card to periodically collect real-time process information on site, which is used to simulate the logic operations such as the control rod lifting logic and loop operation control of the nuclear power plant, and then outputs the control signal through the signal output card to realize real-time control of the control objects on site of the nuclear power plant.

[0080] When the nuclear power robot starts working, the radiation detection module begins to collect multi-source nuclide data in real time and transmits this data to the control cabinet through the wireless communication module. After receiving the data, the control cabinet integrates the robot status information, radiation detection data, location information and on-site monitoring information for comprehensive analysis. Through this analysis, the control cabinet can issue collaborative inspection instructions or decide whether to start radiation hotspot tracking and radiation dose sampling tasks.

[0081] The operator station displays and monitors the data in the control cabinet. The operator sends instructions to the control cabinet through the operator station to ensure that the robot performs the task as planned. The engineer station provides system configuration functions for adjusting and optimizing system parameters to ensure system stability and smooth execution of tasks.

[0082] The following is an explanation of the data transmission between the nuclear power robot and the system:

[0083] The data sent by each nuclear power robot to the DCS includes neutron / γ / β measurement data, robot position data, control instructions, and radiation hotspot data.

[0084] The multi-source nuclear data detection equipment integrates heterogeneous RS485 IP core and CAN IP core, and adopts a dual hardware IP core verification and backup communication method to ensure the reliability of data transmission. The neutron / γ / β measurement data measured by multiple nuclear detection sensors are sent to the wireless communication conversion module via RS485 and CAN bus, and the data transmission uses the Modbus RTU protocol. The wireless communication conversion module between the nuclear power robot and the DCS establishes a connection via Wi-Fi, using the TCP / IP protocol; the wireless communication conversion module and the DCS communication module use RS485 communication with the Modbus RTU protocol.

[0085] DCS acts as the master station, sending data query commands to each nuclear power robot at regular intervals. The radiation detection equipment on the nuclear power robot responds to the query commands as the slave station, returns and sends data to DCS. Neutron count rate data uses integer format, and γ / β dose rate data uses floating point format. The data are packaged and uploaded together. The operator station is designed with three radiation detection data display windows for each robot to monitor the radiation dose level in real time.

[0086] The robot's position data and control instructions are transmitted in the same way as multi-source core data, and are bidirectionally transmitted with the DCS, using the CAN bus-Wi-Fi-RS485 method for data interaction.

[0087] Embodiment 2

[0088] like Figure 1 As shown, a nuclear power robot decision and control method is based on the nuclear power robot decision and control system as described above, and the control method includes:

[0089] Query the current position of the robot and compare it with the preset initial position: query the current position coordinates of each nuclear power robot, and compare the current position coordinates with the preset initial position coordinates. If they are inconsistent, wait and re-query at regular intervals; if they are consistent, send the motion path coordinate data to the nuclear power robot according to the preset inspection path.

[0090] When the system starts, the control system first queries the current position coordinates of each nuclear power robot and compares the coordinates with the preset initial position coordinates. If the current position is inconsistent with the preset initial coordinates, the system will wait and re-query at regular intervals until the robot locates the correct initial position; if they are consistent, the system will send the motion path coordinate data to the nuclear power robot according to the preset inspection path to ensure that the robot starts inspection according to the planned path.

[0091] Send a start command to the nuclear power robot: When the robot's position is confirmed and the path information is received, the control system will send a start command to the nuclear power robot, instructing the robot to start performing the inspection task.

[0092] During the inspection process, the system queries the current actual coordinates and multi-source nuclide data of each nuclear power robot according to the predetermined cycle; the data includes neutron, gamma and beta radiation data from the radiation detection module, and checks whether the robot has reached the predetermined position of the inspection path, and analyzes the multi-source nuclide data. Through the comprehensive analysis of these data, the control system can evaluate in real time whether the robot has completed the inspection task.

[0093] Determine whether the inspection task is completed: Determine whether all inspection tasks are completed based on the current actual coordinates. If all inspection tasks are completed, send a stop motion command to stop the current inspection task. If the task is not completed, the system will continue to check whether there is radiation leakage in the surrounding environment.

[0094] Radiation leak detection: When the system determines that there is a radiation leak in the surrounding environment through multi-source nuclide data, the hotspot tracking process will be automatically initiated. If no leak is detected, the nuclear power robot will continue to perform inspection tasks along the preset path; if a leak is detected, the system will initiate the hotspot tracking process.

[0095] Start the hotspot tracking process: During the hotspot tracking process, the system determines whether the hotspot tracking process is completed. If the hotspot tracking is completed, the inspection continues; if the hotspot tracking is not completed, the hotspot tracking process continues.

[0096] This method ensures that each robot can patrol along the predetermined path by dynamically querying the robot's position and continuously monitoring radiation data, and activates the hotspot tracking function when a radiation leak is found. Through hotspot tracking, the system can quickly respond to radiation problems in nuclear power plants and ensure the safety and effectiveness of patrol tasks.

[0097] Embodiment 3

[0098] like Figure 2 As shown in the figure, during the inspection of a nuclear power plant, when a radiation leak is detected, the source of the leak is quickly located and tracked through the hotspot tracking process. The hotspot tracking process includes:

[0099] Determine preliminary leakage points based on radiation hot spot analysis: The system identifies potential leakage areas through radiation hot spot analysis and determines a preliminary leakage point.

[0100] According to the current actual coordinates of the nuclear power robot, the determined preliminary leakage point and obstacle information, the optimal path from the current actual coordinates to the preliminary leakage point is planned; this step adopts the existing path planning algorithm and fully considers the influence of obstacles.

[0101] The motion coordinate data corresponding to the optimal path is sent to the corresponding nuclear power robot; the robot is instructed to move according to the planned path.

[0102] When the nuclear power robot is executing path planning, the system will periodically check whether it has reached the predetermined preliminary leakage point. If the robot has not reached the leakage point, the system will continue to wait until the robot reaches the designated position.

[0103] If it has arrived, determine whether a β dose sampling operation is required based on the current neutron count rate and γ dose rate. If sampling is required, send a sampling operation instruction to perform sampling; if sampling is not required, send a return instruction;

[0104] Determine whether the β dose sampling is completed. If not, continue sampling. If completed, send a return instruction.

[0105] The nuclear power robot returns to the original inspection position before hotspot tracking according to the return instruction, completing the hotspot tracking process.

[0106] Embodiment 4

[0107] This embodiment provides a method for presetting an inspection path, including:

[0108] Spatial modeling of the inspection environment of nuclear power robots is mainly to digitize the size, obstacles and other key parameters of the scene, set a clear inspection area for the robot, and effectively model and simulate the actual environment.

[0109] Determine the number of nuclear power robots, the initial position and final position of each nuclear power robot; First, determine the number of nuclear power robots involved in the inspection task. Each nuclear power robot will be assigned an initial position and a final position to ensure that the robot can perform the inspection task according to the predetermined path. The specific position setting is configured according to the layout of the nuclear power plant, the inspection area and actual needs.

[0110] The grid method is used to preset the fixed inspection path of each nuclear power robot, and the preset fixed inspection path is converted into the position coordinates of each nuclear power robot at each moment; the grid method divides the inspection area into multiple small grids, and sets the position that the robot needs to pass in each small grid, so as to ensure that each robot can cover all the areas that need to be inspected. That is, the preset inspection path covers the entire inspection area, and the position coordinates of each nuclear power robot at the same time do not overlap.

[0111] The position coordinates of each robot will be updated at a predetermined time point to ensure the continuity and integrity of the inspection path.

[0112] When the inspection begins, the two-dimensional data of the inspection scene including the scene size and obstacle information and the position coordinates at each moment will be sent to each nuclear power robot.

[0113] Take a 100 square meter scene as an example, which is 10 meters long and 10 meters wide. The DCS system divides the scene into 100 small squares at a spacing of 1 meter. The coordinate axes X and Y of the scene range from 0 to 10, and a 10x10 square grid map is obtained.

[0114] The position data of each nuclear power robot is represented by (Xi, Yi), where i represents a different robot number (for example, i = 1, 2, 3...). Each obstacle in the map determines the coordinate position (Xj, Yj) occupied by its actual length and width, and these coordinates are marked as prohibited areas, indicating that the robot cannot enter these areas when performing inspections.

[0115] As the master station, DCS will periodically send query commands to the robot to obtain the robot's real-time position data (Xi, Yi), thereby achieving real-time monitoring of the movement trajectory of each robot. Through this mechanism, DCS can accurately track the robot's position and ensure that it performs inspection tasks according to the predetermined path.

[0116] Before the robot starts patrolling, the operator station is responsible for planning the patrol path of each robot and ensuring that multiple robots can cover the entire scene area. Factors that need to be considered during planning include the relationship between the position of each robot and obstacles, ensuring that the robot can avoid obstacles and collisions during the patrol process. In addition, if a radiation hotspot is found during the patrol process, the DCS system will automatically calculate the new coordinates and automatically re-plan the path to ensure that the robot can avoid the radiation hotspot and continue to perform the task.

[0117] Once the inspection path is determined, the DCS will convert the path information into a set of position data and send it to each robot one by one. After receiving the position data, the robot will autonomously control its movement and conduct inspections according to the predetermined path.

[0118] During the inspection process, the robot's control instructions include start, stop, sampling and other actions, all of which are sent through the DCS system. These instructions help the robot complete the inspection task and perform radiation data sampling as needed to ensure the smooth execution of the task.

[0119] Embodiment 5

[0120] Methods for analyzing and determining the initial leakage point include:

[0121] When analyzing radiation leakage points inside a nuclear power plant, a preliminary screening is first performed based on the preset radiation hotspot identification criteria. Based on the preset radiation hotspot identification criteria, radiation hotspot data is acquired through a coded aperture imaging system, which includes a planar coded collimator and a position sensitive detector. The planar coded collimator modulates the photons emitted by the radiation source in the spatial domain, adjusts the direction and distribution of the photons, and provides accurate input for subsequent radiation data processing.

[0122] The front-end detector module of the position-sensitive detector uses a high-density and high-light-yield scintillation detector array to deposit the energy of incident photons, generating fluorescence when interacting with incident photons. The silicon photomultiplier tube array converts the fluorescence signal into an electrical signal, and the multi-channel position readout circuit uses a charge distribution method to simplify the output multi-channel electrical signal into an electrical signal with fewer channels.

[0123] The simplified electrical signal is amplified and transmitted to the back-end multi-channel high-speed analog-to-digital conversion data acquisition circuit for digital processing to obtain a digital signal;

[0124] The obtained digital signal is processed by image reconstruction algorithm to obtain reconstructed radiation image, and radioactive hot spots are identified through the image to locate potential radiation leakage areas and determine the preliminary leakage point.

[0125] After the initial leak point is determined, the radioactive hotspot data identified by multiple nuclear power robots are uploaded to the control cabinet, and the system analyzes the data in real time. Based on the uploaded data, if the count rate in a certain area exceeds the background value, the control cabinet generates a radiation hotspot map at the operator station to intuitively display the location of the radiation hotspot.

[0126] The human operator will query and analyze the generated radiation heat map and related radiation data to evaluate whether to start the hotspot tracking process and make a decision on whether to start hotspot tracking;

[0127] If the human decision is that the hotspot tracking process needs to be started, the system will start the hotspot tracking task according to the instructions of the control cabinet. If the human decision is that hotspot tracking is not necessary, the system will stop this process and continue the normal inspection task.

[0128] Embodiment 6

[0129] The method in this embodiment is used to plan the optimal path of the nuclear power robot from the current position to the leakage point according to the position of the preliminary leakage point during the inspection process of the nuclear power plant. The method includes:

[0130] The system uses the grid method to calculate the shortest path from the robot to the preliminary leakage point based on the current position coordinates of each nuclear power robot and the coordinates of the determined preliminary leakage point. The grid method divides the inspection area into multiple small grids, and calculates the shortest path from the robot to the target point based on the coordinates of each grid and the current position of the robot. While calculating the path, the system also uses the obstacle information in the inspection scene as a parameter for correction to ensure that the calculated path does not pass through the obstacle area, thereby avoiding collisions between robots during the inspection process.

[0131] Based on the correction results, the nuclear power robot closest to the initial leakage point is selected, and the optimal path for tracking the initial leakage point is planned; this ensures that the most suitable robot is assigned to the radiation leakage point for tracking tasks, thereby improving inspection efficiency and response speed.

[0132] The robot position coordinate data obtained at each moment is sent to the selected nuclear power robot, and the nuclear power robot moves according to the planned coordinate value. The other nuclear power robots suspend movement and wait for the hot spot tracking process to end, and wait for the robot executing hot spot tracking to return to the original inspection position.

[0133] The nuclear power robot that has not performed hotspot tracking waits for the nuclear power robot that has performed hotspot tracking to return to the original inspection position, and then synchronizes the operating status or clock of all nuclear power robots, ensuring that all robots start to inspect again according to the preset inspection path at the same time, avoiding time or path conflicts between robots, and then controls the nuclear power robots to move in coordination along the preset inspection path.

[0134] Embodiment 7

[0135] This embodiment provides a method for determining whether sampling is required, including:

[0136] After the nuclear power robot reaches the initial leakage point, it measures the neutron and gamma doses and uploads the measurement results to the control cabinet, which performs a preliminary analysis after receiving the data. Through the measurement of neutron and gamma radiation, the radiation intensity of the leakage point can be preliminarily evaluated.

[0137] The control cabinet analyzes the measurement results and displays the energy spectrum data and radiation dose data on the operator station; the operator can monitor these data in real time through the operator station.

[0138] Based on the real-time data provided by the control cabinet and operator station, the human operator conducts detailed inquiries and analysis combined with the data of the preliminary leakage point. The operator will determine whether the current radiation level requires further beta dose measurement. If the radiation intensity is high, further sampling may be required to obtain more accurate radiation data; if the radiation intensity is low, the process can be terminated directly, that is, the operator makes a decision on whether to start beta dose measurement.

[0139] When it is decided to start the beta dose measurement, the nuclear power robot is instructed to perform the beta dose measurement sampling action; the nuclear power robot will perform beta dose sampling through its detection module, and upload and analyze the neutron, gamma and beta dose measurement results to obtain the final leakage point;

[0140] If the β dose measurement is not started, the initial leakage point is directly taken as the final leakage point.

[0141] Embodiment 8

[0142] A nuclear power robot decision and control terminal comprises a memory, a processor and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the steps of the above-mentioned nuclear power robot decision and control method are implemented.

[0143] The memory can be used to store software programs and modules. The processor executes various functional applications and data processing of the terminal by running the software programs and modules stored in the memory. The memory can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system, an execution program required for at least one function, etc.

[0144] The data storage area can store data created according to the use of the terminal, etc. In addition, the memory may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other volatile solid-state storage devices.

[0145] A computer-readable storage medium stores a computer program, which, when executed by a processor, implements the steps of the above-mentioned nuclear power robot decision-making and control method.

[0146] Without loss of generality, computer readable media may include computer storage media and communication media. Computer storage media include volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information such as computer readable instruction data structures, program modules or other data. Computer storage media include RAM, ROM, EPROM, EEPROM, flash memory or other solid-state storage technology, CD-ROM, DVD or other optical storage, cassettes, magnetic tapes, disk storage or other magnetic storage devices. Of course, those skilled in the art will appreciate that computer storage media are not limited to the above. The above-mentioned system memory and mass storage devices can be collectively referred to as memory.

[0147] A computer program product includes a computer program / instruction, which, when executed by a processor, implements the steps of any one of the above-mentioned nuclear power robot decision-making and control methods.

[0148] A computer program product includes a computer program or set of instructions for performing specific tasks or implementing specific functions. These programs or instructions are designed to be executed by a processor to implement a series of predefined steps or operations. The program product may be stored in various forms of computer storage media, such as memory, hard disk, solid-state drive, optical disk or other forms of digital storage devices. It may exist in the form of compiled binary code or in the form of scripts or bytecodes that can be executed by an interpreter. The program product uses carefully designed algorithms and logical instructions to enable the processor to process data in a specific order and manner to complete various functions such as data analysis, user interaction, device control, etc.

[0149] In the description of this specification, the description with reference to the terms "one embodiment / method", "some embodiments / methods", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment / method or example are included in at least one embodiment / method or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment / method or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments / methods or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments / methods or examples described in this specification and the features of the different embodiments / methods or examples, unless they are contradictory.

[0150] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of this application, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0151] It should be understood by those skilled in the art that the above embodiments are only for the purpose of clearly illustrating the present invention, and are not intended to limit the scope of the present invention. For those skilled in the art, other changes or modifications may be made based on the above invention, and these changes or modifications are still within the scope of the present invention.

Claims

1. A nuclear power robot decision and control system, characterized in that: Based on a distributed control system architecture, the system includes: a control cabinet, an operator station and an engineer station; the system is used to control at least one nuclear power robot; The nuclear power robot is equipped with a radiation detection module and a position positioning module. The radiation detection module is used to collect multi-source nuclide data, and the position positioning module is used to collect the position information of the nuclear robot. The control cabinet and the nuclear power robot communicate bidirectionally through the wireless communication module; The control cabinet is used to integrate multi-source nuclide data, nuclear power robot parameter data, location information, logical configuration and on-site monitoring information, and to control the nuclear power robot's collaborative inspection, radiation hotspot tracking and radiation detection sampling based on the integrated data; The operator station is used to receive and display the fusion data of the control cabinet in real time and send operation instructions to the control cabinet; The engineer station is used to set up the logic configuration and system parameter configuration of the control cabinet.

2. A nuclear power robot decision and control system according to claim 2, characterized in that: The control cabinet is equipped with a main controller, an analog input module, an analog output module, a switch input module, and a switch output module; the model of the main controller is XP243X.

3. A nuclear power robot decision-making and control method, characterized in that: Based on a nuclear power robot decision and control system as claimed in claim 1 or 2, the control method comprises: Query the current position coordinates of each nuclear power robot, and compare the current position coordinates with the preset initial position coordinates. If they are inconsistent, wait and re-query at regular intervals; if they are consistent, send the motion path coordinate data to the nuclear power robot according to the preset inspection path; Send a start command to the nuclear power robot; Query the current actual coordinates and multi-source nuclide data of each nuclear power robot according to a predetermined period; Determine whether all inspection tasks are completed based on the current actual coordinates. If all inspection tasks are completed, send a stop motion command; If the inspection task is not completed, determine whether there is radiation leakage in the surrounding area based on the multi-source nuclide data. If no leakage is detected, continue the inspection; if leakage is detected, start the hot spot tracking process; Determine whether the hotspot tracking process is completed. If the hotspot tracking is completed, continue the inspection; if the hotspot tracking is not completed, continue the hotspot tracking process.

4. A nuclear power robot decision and control method according to claim 3, characterized in that: The hotspot tracking process includes: Determine the initial leakage point based on radiation hot spot analysis; According to the current actual coordinates of the nuclear power robot, the determined preliminary leakage point and obstacle information, the optimal path from the current actual coordinates to the preliminary leakage point is planned; Sending the motion coordinate data corresponding to the optimal path to the corresponding nuclear power robot; Determine whether the nuclear power robot has reached the preliminary leakage point. If not, wait for the nuclear power robot to arrive. If it has arrived, determine whether a β dose sampling operation is required based on the current neutron count rate and γ dose rate. If sampling is required, send a sampling operation instruction to perform sampling. If sampling is not required, send a return instruction. Determine whether the β dose sampling is completed. If not, continue sampling. If completed, send a return instruction. The nuclear power robot returns to the original inspection position before hotspot tracking according to the return instruction, completing the hotspot tracking process.

5. A nuclear power robot decision and control method according to claim 3, characterized in that: The inspection path preset methods include: Conduct spatial modeling of the inspection environment of nuclear power robots; Determine the number of nuclear power robots, the initial position and final position of each nuclear power robot; A grid method is used to preset a fixed inspection path for each nuclear power robot, and the preset fixed inspection path is converted into the position coordinates of each nuclear power robot at each moment; When the inspection begins, the two-dimensional data of the inspection scene including the scene size and obstacle information and the position coordinates at each moment will be sent to each nuclear power robot.

6. A nuclear power robot decision-making and control method according to claim 5, characterized in that: The preset inspection path covers the entire inspection area, and the position coordinates of each nuclear power robot do not overlap at the same time.

7. A nuclear power robot decision and control method according to claim 4, characterized in that: Methods for analyzing and determining the initial leakage point include: According to the preset radiation hotspot identification criteria, radiation hotspot data is acquired through a coded aperture imaging system; wherein the coded aperture imaging system includes a planar coded collimator and a position sensitive detector, and the planar coded collimator modulates the photons emitted by the radiation source in the spatial domain; The position-sensitive detector generates fluorescence when interacting with incident photons, and the silicon photomultiplier tube array converts the fluorescence signal into an electrical signal; The amplified electrical signal is transmitted to the back-end multi-channel high-speed analog-to-digital conversion data acquisition circuit for digital processing to obtain a digital signal; The acquired digital signals are processed using image reconstruction algorithms to identify radioactive hot spots and determine preliminary leakage points.

8. A nuclear power robot decision and control method according to claim 7, characterized in that: After analyzing and determining the initial leak point, the methods for starting the hotspot tracking process include: The radioactive hotspot data identified by multiple nuclear power robots are uploaded to the control cabinet. If the count rate in a certain area exceeds the background value, a radiation hotspot map is generated at the operator station; Combined with manual query and analysis of radioactive hotspot data, a decision is made on whether to initiate hotspot tracking; If a manual decision is made to start hotspot tracking, the hotspot tracking process will be started; if a manual decision is made not to start hotspot tracking, the hotspot tracking process will not be started.

9. A nuclear power robot decision and control method according to claim 8, characterized in that: The method for planning the optimal path of the nuclear power robot from the current actual coordinates to the preliminary leakage point includes: According to the current actual coordinates of each nuclear power robot and the position of the determined preliminary leakage point, the grid method is used to calculate the shortest path of each nuclear power robot, and the obstacle information in the inspection scene is combined for correction; According to the correction result, the nuclear power robot closest to the initial leakage point is selected, and the optimal path for tracking the initial leakage point is planned; The robot position coordinate data obtained at each moment is sent to the selected nuclear power robot, and the nuclear power robot moves according to the planned coordinate value. The other nuclear power robots suspend movement and wait for the hot spot tracking process to end.

10. A nuclear power robot decision and control method according to claim 9, characterized in that: The nuclear power robots that have not performed hotspot tracking wait for the nuclear power robots that have performed hotspot tracking to return to the original inspection position, and then synchronize the operating status or clock of all nuclear power robots, and the nuclear power robots coordinate their movements according to the preset inspection path.

11. A nuclear power robot decision and control method according to claim 4, characterized in that: Methods for determining whether sampling is necessary include: After the nuclear power robot reaches the initial leakage point, it performs neutron and gamma dose measurements and uploads the measurement results to the control cabinet; The control cabinet analyzes the measurement results and displays the energy spectrum data and radiation dose data at the operator station; Combined with manual query and analysis of preliminary leakage point data, a decision is made on whether to initiate beta dose measurement; When it is decided to start the β dose measurement, the nuclear power robot is instructed to perform the β dose measurement sampling action; the nuclear power robot uploads the neutron, γ and β dose measurement results and analyzes them to obtain the final leakage point; If the β dose measurement is not started, the initial leakage point is directly taken as the final leakage point.

12. A nuclear power robot decision and control method according to claim 4, characterized in that: The nuclear radiation detection module of the nuclear power robot includes: neutron radiation detection module, gamma radiation detection module and beta radiation detection module. The data of the radiation detection module and the position positioning module are connected to the wireless communication module on the robot side through the RS485 bus and the CAN bus. The wireless communication module establishes a data link with the wireless communication module on the control cabinet side through a wireless network; The wireless communication module on the control cabinet side is connected to the control cabinet via RS485 bus and CAN bus.

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